A unilateral non-penetration constraint dynamical simulation model withfriction is constructed based on compliant model for mechanical system VP (virtual prototyping)simulation. This model combines computer graphics w...A unilateral non-penetration constraint dynamical simulation model withfriction is constructed based on compliant model for mechanical system VP (virtual prototyping)simulation. This model combines computer graphics with multi-body system dynamics. It avoidshandling multiplicity of solution, such as cases of no solution, multi-solution brought about byfriction during traditional construction of non-penetration constraint based on rigid model. At thesame time, the realism of VE (virtual environment) is improved in process of simulation.Furthermore, the valid condition of rolling and sliding unilateral contact is constituted based onsingular perturbation and linear complementary theory. Finally, the compliant method is verified byan interaction between a multi-legged robot and VE.展开更多
基金This project is supported by National Natural Science Foundation of China (No.60375020, No.50305033, No.50405037)973 Program of China (N0.2002CB312106, No.2004CB719400)863 Program of China (No.2003-AA413310)Special Research Foundation of Ministry of Education for PhD Project in Colleges, China (No.20020335112).
文摘A unilateral non-penetration constraint dynamical simulation model withfriction is constructed based on compliant model for mechanical system VP (virtual prototyping)simulation. This model combines computer graphics with multi-body system dynamics. It avoidshandling multiplicity of solution, such as cases of no solution, multi-solution brought about byfriction during traditional construction of non-penetration constraint based on rigid model. At thesame time, the realism of VE (virtual environment) is improved in process of simulation.Furthermore, the valid condition of rolling and sliding unilateral contact is constituted based onsingular perturbation and linear complementary theory. Finally, the compliant method is verified byan interaction between a multi-legged robot and VE.
