基于Kirchhoff动力学比拟理论的柔性管件维修可视化  

Maintenance Visualization of Flexible Tube Based on Kirchhoff Dynamics Analogy Theory

作　　者：焦玉民[1,2] 王强[2] 徐婷[2] 谢庆华[2] 

机构地区：[1]94679部队 [2]解放军理工大学

出　　处：《中国机械工程》2014年第4期502-507,共6页China Mechanical Engineering

基　　金：江苏省自然科学基金资助项目(BK2012061)

摘　　要：为逼真模拟柔性管件在虚拟维修过程中的变形过程,提出了基于横截面假设的软管模型构建方法。将软管的变形过程转换成截面中心受力后的响应过程,结合软管的物理特性,对其进行平衡状态下的受力分析;构建了软管Kirchhoff动力学平衡方程,为便于求解,使用欧拉四元参数法对动力平衡方程进行转换;构建了基于几何约束的圆截面运动微分方程,使用有限差分法对方程进行求解;基于软管模型假设,提出了基于节点间最短距离的碰撞检测方法。最后,以天然橡胶软管为仿真对象,结合其几何特征和物理特征,对其运动过程进行数值模拟,仿真结果证明,该方法可以有效模拟橡胶软管受力后的空间形态。To deal with visualization of motional flexible tube in the virtual environment, a tube model was presented based on cross- section hypothesis. In this model, deformation process was transformed into force feedback process of section centre. According to its physical characteristics, loading analysis at equilibrium state and Kirchhoff kinetics equation were provided. For easy solution, Euler quaternions were employed to build kinetics differential equation of section. And then, finite difference method was used to solve this equation. Based on cross-section hypothesis,this paper pres- ented collision detection method by minimum distance between nodes. Finally, taking natural rubber for example, numerical simulation was carried out with geometric and physical characteristics. The simulated results show that this theory can exactly display the transformation of deformable body in the virtual environment.

关 键 词：Kirchhoff动力学比拟 虚拟维修 柔性管件 碰撞检测 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]