基于位置动力学的线缆运动过程仿真方法  

Method of Cable Dynamic Simulation Based on PBD

作　　者：杨炜烽 刘检华[1] 吕乃静 马江涛 YANG Weifeng;LIU Jianhua;LÜNaijing;MA Jiangtao(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081;School of Modern Post(School of Automaton),Beijing University of Posts and Telecommunications,Beijing 100876)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]北京邮电大学现代邮政学院(自动化学院),北京100876

出　　处：《机械工程学报》2024年第6期21-31,57,共12页Journal of Mechanical Engineering

基　　金：国防基础科研(JCKY2022203C048);国家自然科学基金(51935003,52305524);中央高校基本科研业务费(2022RC23)资助项目。

摘　　要：针对虚拟环境下活动线缆的运动仿真问题,提出一种基于位置动力学的线缆运动过程仿真方法。该方法首先建立离散Cosserat杆模型描述线缆位姿和变形,并构建约束函数来限制线缆变形和避免线缆发生干涉。随后基于位置动力学进行线缆运动仿真:在每轮位姿求解时,先结合受力与速度预估离散点位置,然后修正离散线缆位姿以满足约束要求,并更新离散点的位置与速度,重复进行上述步骤完成运动过程仿真。最后建立了系列验证实例,对线缆的拉伸、弯曲和扭转变形以及碰撞的响应进行了仿真,并分析比较了不同材料线缆的变形结果,验证了该线缆运动仿真算法的良好计算速度和仿真真实性。To solve the motional simulation problem of moving cable in virtual environment,a motion simulation method based on PBD(position-based dynamics)is proposed.Firstly,the posture and the deformation of cable are described by the discrete cosserat rod model,and the constraint functions are constructed to control the tension,bending,torsion deformations and the collision of cable in motion simulation.After that,the motional simulation of cable is carried out based on PBD theory.In each round of solving,the posture of the cable is estimated in calculated by force and speed,then the position and posture of discrete points are modified to meet the requirements of cable internal constraints,later the position and speed of cable discrete points are updated,and the motion simulation process is completed by repeating the operations above.Finally,a series of verification examples are established,and the cable simulation under different deformation types and collision response conditions are simulated,and the simulation results of cables with different materials are analyzed and compared,which verifying the good computing speed of the algorithm and the authenticity of the simulation.

关 键 词：活动线缆 弹性细杆理论 运动仿真 位置动力学 碰撞响应 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]