Abstract: In order to solve the problems of low reliability of traditional testing methods and mismatch between imported dummy and test scene for large amusement facilities, multi-posture dummy lower limbs model is designed based on Chinese human body characteristics, to accurately evaluate the dangerous operation range. The kinematics and dynamics of driving models are analyzed. The relationship between torque and rotation Angle is established based on Lagrange’s equations and dynamic static analysis. The lower torque driving scheme of lower limbs high torque model is determined. The Angle data obtained by the sensor is analyzed, and the motion parameters of the lower limbs are determined. Furthermore, the posture data of the model are real-time acquired and adjusted by the Microcomputer, and the changes of the dummy’s standing posture and sitting posture are realized. The experimental results show that the torque of the indirect driving mechanism is about 1/4 of that of the direct driving mechanism, and the lower limbs model driven by low torque motor with high torque is realized. The motion of the active component of the indirect driving model is nonlinear, and the nonlinear drive and smooth start and stop of the posture adjustment process is realized by trajectory planning combined with PID control.

Key words: dummy, lower limbs, torque, dynamic static analysis, bionic mechanism, trajectory planning