基于位置动力学的线缆运动过程仿真方法

To solve the motional simulation problem of moving cable in virtual environment, a motion simulation method based on PBD (position-based dynamics) is proposed. Firstly, the posture and the deformation of cable are described by the discrete cosserat rod model, and the constraint functions are constructed to control the tension, bending, torsion deformations and the collision of cable in motion simulation. After that, the motional simulation of cable is carried out based on PBD theory. In each round of solving, the posture of the cable is estimated in calculated by force and speed, then the position and posture of discrete points are modified to meet the requirements of cable internal constraints, later the position and speed of cable discrete points are updated, and the motion simulation process is completed by repeating the operations above. Finally, a series of verification examples are established, and the cable simulation under different deformation types and collision response conditions are simulated, and the simulation results of cables with different materials are analyzed and compared, which verifying the good computing speed of the algorithm and the authenticity of the simulation.