3D simulation of manual material handling tasks based on nonlinear optimization method

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Title: 3D simulation of manual material handling tasks based on nonlinear optimization method
Author: Zhang, Yanxin
Abstract: Two biomechanical approaches were launched in this study to simulate and investigate the manual material handling (MMH ) activities . The first is a biomechanical simulation approach . In this approach , an inverse kinematics computation with nonlinear optimization method was applied to simulate MMH . Mathematically , the approach was expressed as a system of nonlinear equations with an objective function and a set of constraints , which was solved using an iterative numerical algorithm . The second is a dynamic & control approach . In this approach , the human body was viewed as a two -link rigid body (upper body and lower body ) control system , which can control the muscles to generate different joint torques (ankle torque and hip torque ) to compensate the external load moment which was be considered as a perturbation at different phase and posture during lifting . The body postural responses to a wide range of perturbations were simulated . To test and validate these two modeling approaches , a factorial experiment was conducted to obtain the kinematics data for different task conditions . A set of kinematics (angular displacement and angular velocity ) and kinetic parameters (joint torque and compressive forces ) was analyzed . The experiment results showed that the simulated data fit well with the experiment data and further insights of the human control strategy of MMH were gained by statistical analysis .
URI: http : / /hdl .handle .net /2346 /20958
Date: 2005-08

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3D simulation of manual material handling tasks based on nonlinear optimization method. Doctoral dissertation, Texas Tech University. Available electronically from http : / /hdl .handle .net /2346 /20958 .

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