自由式划手訓練機構的設計與模擬

Abstract

游泳是一項相當健康的運動，但在學習過程中往往有許多難關需要克服，若可透過一個訓練機台事先讓人熟悉游泳的動作，將能實際至水中學習游泳的過程將更快速吸收。且在自由式游泳中，主要的推進動力七成來自於手部，透過許多優秀運動員的游泳動作分析可發現，S型與I型划手為大部份游泳選手所採用划手軌跡，尤其S型划手較有利於手臂在划水過程中產生有效的推力，但動作卻也較難掌握。 本研究旨在透過標準的游泳划手軌跡與生物力學方法評估，進而設計建立實用的訓練機構，提供游泳初學者學習或姿勢矯正用使用。 本研究內容主要可分成四大項目，依序分別為：(1)3ds Max 3D標準游泳划手軌跡的軌跡編輯與建立，(2)生醫軟體OpenSim模擬分析運動過程中肌肉張力，(3)划手訓練教學機構之設計，(4)機構運動學的推導與驗證。 本研究首先利用動畫軟體編輯3D划手軌跡方面，參考S型划手自由式冠軍選手的動作為軌跡藍本，進行標準軌跡建立；接著配合生醫軟體計算運動過程中肌肉的靜態張力，驗證其利用動畫軟體所建立動作是否適當。 依循創新的設計流程，利用控制人體前臂在空間中的位移軌跡，達成控制與訓練人體上肢正確的游泳姿態，並以自由式S型與I型划手為訓練的範例進行分析評估。 最後在機構的分析與驗證方面，採用機構動態模擬詳細檢視機構組件與訓練者肢體的干涉可能並加以排除。利用逆向機構運動學推導分析各驅動軸的位移角，確認訓練機構的可動度及提供後續動力驅動用控制器的應用與規劃參考。

Swimming is a quite healthy sport, but there are many problems needed to overcome during the learning process. If we can let people familiar with the movements of swimming through a training mechanism in advance, people can have better efficiency in learning swimming in water. In freestyle swimming, there are 70% of main propulsive forces is applied by arms. Through the analysis of the swimming movements of many excellent athletes, we found that most of them use S-shape stroke and I-shape stroke, and the S-shape stroke is more beneficial to bring efficient force in sculling process, but hard to control. This study reports the standard sculling trajectory and the assessments by biomechanics method, and the design of a functional training mechanism for the novices or redressing the posture for swimmers. This study is consist of four main subject, respectively are: (1) Editing 3D trajectory in animation software 3ds Max、(2) simulating tension of muscle in biomedicine software OpenSim、(3)designing sculling training mechanism and (4) deriving mechanism kinetics. We employ animation software to editing 3D trajectory, and refer to the trajectory of the freestyle champion to establish standard trajectory. Then, we use biomedicine software to calculate the static tension of muscle in moving process, and verify if the established movement in animation software is appropriate or not. According to designing process of this study, we complete the mechanism conforming to expectation of standard swimming posture by controlling the trajectory of the forearm. This study assesses the samples of S-shape stroke and I-shape stroke. In the analysis of mechanism, we check and remove the interferences by institutional dynamic simulation. We calculate the displacement angles by Inverse kinematics, verify the degree of freedom of the mechanism, and afford the applications of drive controller and plan by the displacement angles.