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Fig. 2 Body three: 3-1-2 cardan anole rotations of the rioht leo about the hip joint: (a) 45 ~ about the z-axis (flexion); (b) - 3 0 ~ about
the x-axis (abduction); (c) - 4 5 ~ about the y-axis (external rotation) and (d) the le9 in the final position with eardan anoles
(45 ~ --30 ~ --45 ~
Medical & Biological Engineering & Computing September 1987 529
The last rotation about the y-axis corresponds to internal- tional cosines, then these vectors become the columns of
external rotation at the right hip or shoulder (see Fig. 2c). the transformation matrix C in order from left to right of
For the example shown in Fig. 2, the cardan angles, ~, 8, 7, w, u and v (PAUL, 1981). Cis therefore given by
are 45 ~ - 3 0 ~ and - 4 5 ~ respectively.
W1 U1
C= w2 u2 v2 (3)
2.3 Transformation between space-fixed and body-fixed W3 U3 1)3
co-ordinates using cardan angles
The cardan angles are calculated by matching the matrix
It is often desirable to be able to express the orientation elements of the segment's directional cosines given in eqn.
of a rigid body B either in terms of its body-fixed axes and 1 to those in eqn. 3 (KANE et al., 1983). Element u 3 is used
its cardan angles (a; fl, 7) or in space-fixed co-ordinates of to calculate the adduction angle fl between - 9 0 ~ and 90 ~
the reference system A. The two systems are related by a
transformation matrix C consisting of the direction cosines fl = arc sin u3 (4)
between the bases vectors a~, a2, a3 and b~, b2, b3 such
The flexion angle ~ is calculated using element ul to yield
that
an angle between and including - 9 0 ~ and 90 ~ Element u2
a = C6 (I) is used to determine if the supplementary angle of ~ is
more appropriate.
where if the sine and cosine of an angle are denoted by s
and c, respectively, then C is given by: ct = arc sin ( - u l / c o s fl) (5)
[-s s s7 + c7c s s/Jc7 + sTc ] = ~ if u2 > 0
C =| c~s/3s7 + cTs~ cacti -c~sfc7 + s~s~| = 180- ~ if u 2 < 0
L -c~s~ s~ c~c~ I Similar calculations determine the internal rotation angle 7
Similarly, a rigid body B's body-three: 3-1-2 cardan angle by employing elements w 3 and v 3 .
velocities 0z, 02, 03 can be transformed to angular velo-
cities eg~, ~o2, co3 in reference system A by: 7 = arc sin ( - w 3 / c o s fl) (6)
7= ~ ifv 3 > 0
co, = - 0 ~ cos fl sin 7 + 02 cos 7
= 180- 7 if v3 < 0
~2 = 01 sin fl + 03 (2)
For those cases where fl = + 90 ~ ~ is calculated using w2
~3 = 0~ cos fl cos 7 + 02 sin 7
and w 1 and Vis set to zero.
Time differentiation of eqn. 2 would yield the relationship
ct = arc sin w2 (7)
between the tangential angular acceleration components of
a body B in reference system A and the differentiated com- =ct if wl > 0
ponents of a set of body-three: 3-1-2 cardan angles.
= 180- a if wl < 0