基于位置动力学的线缆运动过程仿真方法

doi:10.3901/JME.2024.06.021

机械工程学报 ›› 2024, Vol. 60 ›› Issue (6): 21-31,57.doi: 10.3901/JME.2024.06.021

• 特邀专栏：数据-知识混合驱动的智能制造系统 • 上一篇下一篇

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基于位置动力学的线缆运动过程仿真方法

杨炜烽¹, 刘检华¹, 吕乃静², 马江涛¹

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

收稿日期:2023-07-30 修回日期:2023-12-31 出版日期:2024-03-20 发布日期:2024-06-07
通讯作者: 刘检华，男，1977年出生，教授，博士研究生导师。主要研究方向为数字化装配技术。E-mail：jeffliu@bit.edu.cn
作者简介:杨炜烽，男，1997年出生，主要研究方向为线缆装配与运动过程仿真技术。E-mail：hgzxywf@163.com
基金资助:
国防基础科研(JCKY2022203C048)、国家自然科学基金(51935003,52305524)和中央高校基本科研业务费(2022RC23)资助项目。

Method of Cable Dynamic Simulation Based on PBD

YANG Weifeng¹, LIU Jianhua¹, Lü Naijing², MA Jiangtao¹

1. School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081;
2. School of Modern Post (School of Automaton), Beijing University of Posts and Telecommunications, Beijing 100876

Received:2023-07-30 Revised:2023-12-31 Online:2024-03-20 Published:2024-06-07

摘要/Abstract

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。

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

Abstract: 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.

Key words: motional cable, elastic thin rods theory, dynamic simulation, position-based dynamics, collision response

中图分类号:

TP391

杨炜烽, 刘检华, 吕乃静, 马江涛. 基于位置动力学的线缆运动过程仿真方法[J]. 机械工程学报, 2024, 60(6): 21-31,57.

YANG Weifeng, LIU Jianhua, Lü Naijing, MA Jiangtao. Method of Cable Dynamic Simulation Based on PBD[J]. Journal of Mechanical Engineering, 2024, 60(6): 21-31,57.

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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

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