CAJ | 학술논문

针对虚拟吊装训练系统中柔性绳索模拟仿真时存在的实时性、逼真程度较差等问题, 基于物理建模提出了一种蜂窝状弹簧-质点模型应用于绳索形变仿真. 该模型依据绳索细长、柔韧等特点, 将传统正方形弹簧质点网格改进为蜂窝状弹簧-质点模型, 其由多簇六边形立柱状弹簧-质点包围而成, 绳索各部分质量均匀分布, 质点间设置 4种弹簧模拟绳索内部弯曲、扭转、拉伸等形变特性; 为加快求解速度同时保证精度要求, 使用改进的 Verlet-梯形预测-校正法对数值计算进行求解.仿真结果表明,文中模型是可行的;数值计算结果表明, Verlet-梯形预测-校正法在效率、精度方面均优于其他数值计算方法.
침대허의조장훈련계통중유성승색모의방진시존재적실시성、핍진정도교차등문제, 기우물리건모제출료일충봉와상탄황-질점모형응용우승색형변방진. 해모형의거승색세장、유인등특점, 장전통정방형탄황질점망격개진위봉와상탄황-질점모형, 기유다족륙변형립주상탄황-질점포위이성, 승색각부분질량균균분포, 질점간설치 4충탄황모의승색내부만곡、뉴전、랍신등형변특성; 위가쾌구해속도동시보증정도요구, 사용개진적 Verlet-제형예측-교정법대수치계산진행구해.방진결과표명,문중모형시가행적;수치계산결과표명, Verlet-제형예측-교정법재효솔、정도방면균우우기타수치계산방법.
In a virtual hoistin training system, to address the issues of real-time and fidelity in flexible rope simulation, a novel cellular mass-spring model was proposed. According to the characteristics of slenderness and flexibility of rope, the square grid mass-spring model is refined into cellular mass-spring model and every part of the rope has uniform mass distribution. The model is composed of multi-group hexagonal columns, and four types of spring are used for the simulation of internal deformation such as bending, torsion and tension. In order to improve the efficiency and precision, the method of verlet-trapezoid-predictor-corrector is proposed on numeric computation. The simulation results verify the feasibility of such a mass-spring model, and the results of numeric computation show that the verlet-trapezoid-predictor-corrector is more efficient and accurate than the others.