索杆铰接式伸展臂柔性索变形仿真

Deformation Simulation of Flexible Cable of Cable-strut Deployable Articulated Mast

对索杆铰接式伸展臂中的柔性索部件进行仿真模拟,采用传统弹簧质点模型方法建立绳索模型,将此三维网格模型作为标量场,通过改变三角网格所对应的梯度场和散度,并利用泊松方程在Eigen以及OpenGL的支持下实现柔性索的模拟变形。针对弹簧质点模型受到弹簧长度制约而导致的绳索不连续情况进行优化提高仿真效果,具备实时的仿真交互能力。实验结果表明,柔性索的模拟变形仿真具有较好的细节效果,能够更加平滑的模拟柔性索,并且在数值计算上更加精确。

The flexible cable model of Cable-Strut Deployable Articulated Mast is established as the traditional spring-mass model to simulate the deformation of the cable.During the simulation,the established three-dimensional grid model is regarded as a scalar field.The gradient and divergence of the triangular mesh are changed and the Poisson equation is used to simulate the deformation of the flexible cable with the support of Eigen and OpenGL.The discontinuous of spring-mass model caused by the constraints of the length of the spring is improved,and the effect of the simulation is developed for the real-time simulation interaction.The experimental results show that the simulation of flexible cable simulation has better detail effect,more flexible simulation of flexible cable,and more accurate in numerical calculation.