【求助】机器人假肢仿真问题

BaoLu

尊敬的管理员大哥及各位大侠：  
      对于你们在仿真论坛中的辛勤劳动和无私付出，表示我崇高的敬意。  
     我是一名学生，主要研究异构双腿行走机器人。左腿为智能假肢，髋关节3个自由度，膝关节用的是四联杆机构，只有一个前向自由度，踝关节没有自由度。右腿为人工腿（双足机器人的一条腿），髋关节3个自由度，膝关节一个自由度，踝关节2个自由度。人工腿模拟人的健康腿，智能假肢为残疾人安装的假腿，异构双腿的目的主要是研究穿戴假肢的人的行走。  
    我在ADAMS里建立了模型，上身通过布尔操作等价于一个质量快，没有自由度，我在髋关节处加了一个侧向运动，就是想让人侧身。我现在静力学分析都过不去，焦急中想到了你们。请各位大侠在百忙中给看一看，对您再次表示衷心的感谢！  
   我现在主要考虑运动学仿真，暂不考虑动力学。可以对关节直接加运动，根据规划的各关节运动，最终是实现类人稳定行走，侧身只是第一步。  
  
下面给出模型验证等信息：  
  
VERIFY MODEL: .MPRO_model  
  
  -1 Gruebler Count (approximate degrees of freedom)  
  17 Moving Parts (not including ground)  
  18 Revolute Joints  
   2 Fixed Joints  
   1 Motions  
  
  15 Degrees of Freedom for .MPRO_model（？？怎么15个自由度啊，明明是10个啊）  
  
There are 16 redundant constraint equations.  
  
   This constraint: unnecessarily removes this DOF:  
  
   .MPRO_model.JOINT_5 (Revolute Joint) Rotation Between Zi & Xj  
   .MPRO_model.JOINT_5 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_4 (Revolute Joint) Translation of I Marker Along Zg  
   .MPRO_model.JOINT_4 (Revolute Joint) Rotation Between Zi & Xj  
   .MPRO_model.JOINT_4 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_22 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_23 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_25 (Revolute Joint) Rotation Between Zi & Xj  
   .MPRO_model.JOINT_25 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_26 (Revolute Joint) Rotation Between Zi & Xj  
   .MPRO_model.JOINT_26 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_27 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_28 (Revolute Joint) Rotation Between Zi & Xj  
   .MPRO_model.JOINT_28 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_29 (Revolute Joint) Rotation Between Zi & Xj  
   .MPRO_model.JOINT_29 (Revolute Joint) Rotation Between Zi & Yj  
  
Model verified successfully  
VERIFY MODEL: .MPRO_model  
  
  -1 Gruebler Count (approximate degrees of freedom)  
  17 Moving Parts (not including ground)  
  18 Revolute Joints  
   2 Fixed Joints  
   1 Motions  
  
  15 Degrees of Freedom for .MPRO_model  
  
There are 16 redundant constraint equations.  
  
   This constraint: unnecessarily removes this DOF:  
  
   .MPRO_model.JOINT_5 (Revolute Joint) Rotation Between Zi & Xj  
   .MPRO_model.JOINT_5 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_4 (Revolute Joint) Translation of I Marker Along Zg  
   .MPRO_model.JOINT_4 (Revolute Joint) Rotation Between Zi & Xj  
   .MPRO_model.JOINT_4 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_22 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_23 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_25 (Revolute Joint) Rotation Between Zi & Xj  
   .MPRO_model.JOINT_25 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_26 (Revolute Joint) Rotation Between Zi & Xj  
   .MPRO_model.JOINT_26 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_27 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_28 (Revolute Joint) Rotation Between Zi & Xj  
   .MPRO_model.JOINT_28 (Revolute Joint) Rotation Between Zi & Yj  
   .MPRO_model.JOINT_29 (Revolute Joint) Rotation Between Zi & Xj  
   .MPRO_model.JOINT_29 (Revolute Joint) Rotation Between Zi & Yj  
  
Model verified successfully  
  
静力学分析结果：  
   ERROR: Attempt = 1. No convergence after 25 iterations. Best iteration = 1.  
   Trying next attempt with a different set of statics parameters...  
   
ERROR: Static equilibrium analysis has not been successful.  
ERROR: Simulation failure detected  
  
对于各位的帮助，不胜感激！

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