关键词: 弹性细杆, 力学模型, 物理特性建模, 线缆运动仿真, 虚拟环境, 虚拟装配

Abstract: To deal with the poor reliability of motional cable harness layout, a new physical characteristic oriented modeling and kinetic simulation method of motional cable harness based on thin elastic rod mechanical model is proposed. For the flexible and continuous characteristic of motional cable harness, three coordinate systems are established, including inertial coordinate system, Frenet coordinate system and main-axis coordinate system which is connected with microelement of motional cable harness. The force of microelement of motional cable harness in equilibrium is analyzed, and the Kirchhoff equation and physical characteristic oriented model of motional cable harness is established. Based on the model, the kinetic simulation method of motional cable harness is proposed. A data structure to suit for the kinetic simulation method is proposed. Through two levels-“path key points” and “path”, the pose of cable in the motion process is expressed and recorded in space and time dimensions. A testing validation system is established, and the related model and algorithm are validated through tests.

Key words: Cable harness kinetic simulation, Mechanical model, Physical characteristic oriented modeling, Thin elastic rod, Virtual assembly, Virtual environment