基于Cosserat模型和位置动力学的柔性线缆实时仿真  

Realtime Simulation of Flexible Cable Based on Cosserat Model and Position Based Dynamics

作　　者：陈文强 张丹[1] 朱锡生 左敦稳[1] CHEN Wenqiang;ZHANG Dan;ZHU Xisheng;ZUO Dunwen(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautic,Nanjing 210016,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械制造与自动化》2023年第3期74-78,共5页Machine Building & Automation

基　　金：国家自然科学基金项目(51705246)。

摘　　要：为提高基于Cosserat弹性杆模型的柔性线缆仿真精度和实时性要求,提出一种将Cosserat弹性杆模型和位置动力学结合的方法,采用Cosserat弹性杆模型描述线缆的形变特性,在经典PBD框架下加入线缆离散单元方向变量,将线缆离散Cosserat模型的拉伸-剪切和弯曲-扭转应变约束作为约束函数扩展到PBD框架中,以此来进行约束投影,实现线缆空间位姿的实时求解,并通过实例验证了该方法的可行性。In order to improve the simulation accuracy and real-time standard of flexible cables based on the Cosserat elastic rod model,this paper proposes a method combing the Cosserat elastic rod model with position dynamics.The Cosserat elastic rod model is used to describe the deformation characteristics of the cable.The cable discrete element direction variable is added under the PBD framework,and the tensile-shear and bending-torsional strain constraints of the cable discrete Cosserat model are extended to the PBD framework as constraint functions,so as to carry out constraint projection and realize the real-time solution of the cable space pose,and the feasibility of the proposed method is verified by examples.

关 键 词：柔性线缆 物性仿真 Cosserat弹性杆 PBD 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]