电子科技
電子科技
전자과기
IT AGE
2012年
3期
4-7
,共4页
力触觉再现%多孔固体%蜂窝%标准梁理论
力觸覺再現%多孔固體%蜂窩%標準樑理論
력촉각재현%다공고체%봉와%표준량이론
haptic rendering%cellular solids%honeycomb%standard beam theory
针对虚拟手术中柔性物体仿真的实时性和真实性要求,提出了一种基于蜂窝状多孔固体结构的力触觉再现模型。该模型利用多孔固体中的蜂窝单元构建柔性物体,将受表面压力影响的三维空间细化为蜂窝形状,基于结构力学中的标准梁理论获得蜂窝单元形变和作用力关系的解析表达式,进而实现基于物理意义的柔性物体形变仿真。模型不仅具有较好的形变计算实时性,而且通过改变蜂窝单元的弹性模量、孔穴边长和内角等参数,可以实现多种线性与非线性形变仿真。基于Falcon手控器构建的力触觉再现原型系统,验证了该模型的实时性和逼真性。
針對虛擬手術中柔性物體倣真的實時性和真實性要求,提齣瞭一種基于蜂窩狀多孔固體結構的力觸覺再現模型。該模型利用多孔固體中的蜂窩單元構建柔性物體,將受錶麵壓力影響的三維空間細化為蜂窩形狀,基于結構力學中的標準樑理論穫得蜂窩單元形變和作用力關繫的解析錶達式,進而實現基于物理意義的柔性物體形變倣真。模型不僅具有較好的形變計算實時性,而且通過改變蜂窩單元的彈性模量、孔穴邊長和內角等參數,可以實現多種線性與非線性形變倣真。基于Falcon手控器構建的力觸覺再現原型繫統,驗證瞭該模型的實時性和逼真性。
침대허의수술중유성물체방진적실시성화진실성요구,제출료일충기우봉와상다공고체결구적력촉각재현모형。해모형이용다공고체중적봉와단원구건유성물체,장수표면압력영향적삼유공간세화위봉와형상,기우결구역학중적표준량이론획득봉와단원형변화작용력관계적해석표체식,진이실현기우물리의의적유성물체형변방진。모형불부구유교호적형변계산실시성,이차통과개변봉와단원적탄성모량、공혈변장화내각등삼수,가이실현다충선성여비선성형변방진。기우Falcon수공기구건적력촉각재현원형계통,험증료해모형적실시성화핍진성。
A haptic model based on the honeycomb structure of cellular solids is developed to satisfy the requirements of real-timeness and authenticity for simulating deformable objects in the virtual surgery.Honeycomb units of cellular solids are employed to construct the deformable object,and the space affected by the surface pressure is refined to the honeycomb shape.Based on the standard beam theory in Structural Mechanics,an analytical expression of the relationship between deformation and force of honeycomb units is obtained,so as to achieve physical meaning-based simulation of the deformable object.Not only does the model have better real-time deformation calculation,but also a variety of linear and nonlinear deformation simulation can be achieved.A haptic feedback prototype system based on hand controller ＂Falcon＂ verifies the real-time and realistic effect of the model.
