Modeling of linear objects considering bend, twist, and extensional deformations
Modeling of linear objects considering bend, twist, and extensional deformations
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考虑弯曲、扭曲和拉伸变形的线性物体建模
DOI：
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发表时间：
1995
期刊：
影响因子：
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通讯作者：
K. Iwata
中科院分区：
文献类型：
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作者：
H. Wakamatsu;S. Hirai;K. Iwata
在许多制造过程中操纵各种可变形物体。这些对象的变形经常被用来成功地操纵它们，而操纵有时会因为对象的意外变形而失败。因此，需要对可变形物体进行建模，以便可以预先在计算机上评估物体的形状。在本文中，我们开发了一种分析方法来建模的可变形的线性对象，如线和管的形状。首先，介绍了一种描述具有弯曲和扭转变形的线性物体形状的几何表示。然后，制定的物体的势能和几何约束。在几何约束下，通过最小化势能可以得到物体在稳定状态下的形状。其次，程序计算变形形状的开发应用非线性规划技术。最后，一些数值例子，以展示如何使用所提出的方法计算线性对象的变形形状。
Various deformable objects are manipulated in many manufacturing processes. Deformation of these objects is often utilized in order to manipulate them successfully while the manipulation sometimes fails because of unexpected deformation of the objects. Modeling of deformable objects is thus required so that the shape of the objects can be evaluated on a computer in advance. In this paper, we develop an analytical method to model the shape of a deformable linear object such as cords and tubes. First, a geometric representation to describe the shape of a linear object with bending and torsional deformation is introduced. The potential energy of the object and the geometric constraints imposed on it are then formulated. The shape of the object in the stable state can be derived by minimizing the potential energy under the geometric constraints. Next, procedure to compute the deformed shape is developed by applying a nonlinear programming technique. Finally, some numerical examples are shown in order to demonstrate how deformed shapes of linear objects are computed using the proposed approach.