A multi-branch mass-spring model for virtual assembly of cable harness

The real-time assembly simulation of cables is challenging due to the complex topology and flexibility of cables. A multi-branch mass-spring model is proposed to deal with the difficulties. In which the tense and bending characteristic of cable could be dealt with and the point connecting cable branches are added to help express cable harness with complex topology. A solution combining control theory and kinematics is presented. In the solution an experiential formula is fitted with the help of control variable method to ensure the cable's length is same and an arithmetic fixing the position of particular mass points is presented to simulate the deformation when cables are bundled up. In collision detection for cable, spherical bounding box is used to build up the collision model of cable, and the more accurate collision point could be got in real time by dividing the collision model into more accurate expression and eliminating redundant collision. A prototype system based on the multi-branch mass-spring model is developed, in which assembly simulation of cable is carried out and the key techniques and presented solution are validated.