摘要
柔性绳索的仿真是虚拟吊装训练系统的仿真难点之一,针对柔性绳索仿真存在的实时性差、逼真度不高等问题,建立了基于弹簧-质点模型的虚拟吊装训练系统中吊臂-绳索-重物的动力学模型。将绳索离散为集中质点模型,质点间通过无质量弹簧连接。通过Kane方法建立其动力学方程,并对其运动过程进行动态仿真。仿真结果表明,上述动力学模型能有效地对柔性绳索动态过程进行仿真,增大对柔性绳索仿真的逼真度和实时性,提高了仿真效率。对提高虚拟系统的真实性和训练效果具有很大的帮助。
The simulation of flexible rope is one of the difficult points in the virtual hoisting training system. Ai- ming at the problem of poor real - time performance and low fidelity in the simulation of flexible rope, based on the mass - spring model, the dynamic model of the lifting arm - rope - weight in the virtual hoisting training system is es- tablished. The rope is dispersed into lumped masses ,which are connected by massless springs. The dynamic equation is established by Kane method, and the dynamic process is simulated. The simulation results show that the dynamic model can simulate the dynamic process of flexible rope effectively,increase the fidelity and real - time performance, and improve the efficiency of simulation. It is very helpful to improve the authenticity of the virtual system and the training effect.
出处
《计算机仿真》
北大核心
2017年第8期364-368,共5页
Computer Simulation
基金
国家自然科学基金(51675530)
