Interactive simulation of one-dimensional flexible parts
Interactive simulation of one-dimensional flexible parts
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DOI：
10.1016/j.cad.2007.05.005
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发表时间：
2007-08-01
影响因子：
4.3
通讯作者：
Schoemer, Elmar
中科院分区：
文献类型：
--
作者：
Gregoire, Mireille;Schoemer, Elmar
在本文中，我们提出了一种用于模拟一维柔性部件（例如电缆或软管）的系统。弯曲和扭转的建模遵循 Cosserat 模型。为此，我们使用广义弹簧质量系统，并通过精心选择的一组坐标来描述其配置。重力和接触力以及负责长度守恒的力均以笛卡尔坐标表示。但是，通过使用四元数来表示连接两个相邻质点的线段的方向，可以更有效地处理弯曲和扭转效应。这个增强系统允许用最合适的坐标类型轻松地制定所有相互作用，并产生强带状 Hessian 矩阵。能量最小化过程提供了一种避免弹簧质量系统典型振荡的解决方案。整个系统在数值上是稳定的，并且可以以交互帧速率求解。它集成在虚拟现实软件中，用于电缆布线和装配模拟等应用。 (c) 2007 Elsevier Ltd. 保留所有权利。
In this paper, we present a system for simulating one dimensional flexible parts such as cables or hose. The modelling of bending and torsion follows the Cosserat model. For this purpose we use a generalized spring-mass system and describe its configuration by a carefully chosen set of coordinates. Gravity and contact forces as well as the forces responsible for length conservation are expressed in Cartesian coordinates. But bending and torsion effects can be dealt with more effectively by using quaternions to represent the orientation of the segments joining two neighbouring mass points. This augmented system allows an easy formulation of all interactions with the best appropriate coordinate type and yields a strongly banded Hessian matrix. An energy minimizing process accounts for a solution exempt from the oscillations that are typical of spring-mass systems. The whole system is numerically stable and can be solved at interactive frame rates. It is integrated in a virtual reality software for use in applications such as cable routing and assembly simulation. (c) 2007 Elsevier Ltd. All rights reserved.