柔性电缆物性建模与几何形态仿真

发布时间：2018-06-09 05:00

本文选题：电缆 + 弹性杆非线性力学　；参考：《大连海事大学》2014年博士论文

【摘要】：电缆在汽车、船舶、飞机等复杂机电产品中占有举足轻重的地位,特别是随着复杂机电产品向着信息化、轻量化和机电一体化的发展,电缆所占比重越来越大。无论是传统的串行设计方法还是现行的CAD方法,目前机电产品中电缆的设计、制造及其装配主要存在因将电缆作为刚性体而导致的设计精度差和无法验证装配工艺等方面的问题。虚拟装配技术的出现为电缆的数字化设计与制造带来了一种全新的思路。本文主要开展基于弹性杆非线性力学的电缆物性建模及电缆形态仿真研究,为开发完善的电缆虚拟装配系统奠定良好的基础。论文的研究工作主要包括以下几个方面：(1)从微分几何角度出发,在分析曲线和曲杆的几何学基础上,基于弹性杆非线性力学建立了描述电缆平衡的基本静力学模型；(2)针对理想状况下电缆两端约束这一典型边界条件,以欧拉角为参变量,建立了描述电缆形态的力学模型,基于动力学比拟的思想并采用半解析法对模型进行求解；(3)考虑电缆分布力及接触力接触复杂约束下,以欧拉参数为参变量,建立了描述电缆形态的力学模型,结合逐级二分离散化的思想和最速下降法对模型进行数值求解；从变分原理出发,考虑电缆所受不同的几何约束,建立了描述电缆平衡形态的统一力学模型,使之能够方便地应用于电缆的虚拟装配系统；(4)基于开源几何内核系统,对不同边界条件下的电缆进行形态仿真；基于三维激光扫描技术建立了电缆形态测试试验台,开展了电缆典型平衡形态的仿真与试验对比研究；(5)开展了基于一款气动力反馈数据手套和一款桌面式七自由度力反馈器的人机交互研究,进行了力反馈设备与虚拟环境中刚性体之间的力触觉交互验证。
[Abstract]:Cable plays an important role in complex mechanical and electrical products such as automobile, ship, aircraft and so on. Especially with the development of complex electromechanical products to information, lightweight and mechatronics, the proportion of cable is more and more important. Whether it is the traditional serial design method or the current CAD method, the design of the cable in the mechanical and electrical products is at present. The fabrication and assembly are mainly caused by the poor design precision and the inability to verify the assembly process caused by the cable as a rigid body. The appearance of virtual assembly technology brings a new idea for the digital design and manufacture of cable. This paper mainly develops the cable physical modeling and cable based on the nonlinear mechanics of elastic rod. The study of morphological simulation lays a good foundation for the development of a perfect cable virtual assembly system. The research work of this paper mainly includes the following aspects: (1) from the point of differential geometry, based on the geometry of curve and curved rod, the basic statics model of cable balance is established based on the nonlinear mechanics of elastic rod. 2) in view of the typical boundary conditions under the ideal condition of the cable, the mechanical model describing the cable form is established with the Euler angle as the parameter. Based on the idea of dynamic analogy and the semi analytical method, the model is solved. (3) considering the complex constraints of the cable distribution force and contact force contact, the Euler parameters are considered as the parameters. The mechanical model describing the cable form is established, and the model is solved numerically with the idea of two separation and dispersion and the method of the fastest descent. Based on the variational principle, considering the different geometric constraints of the cable, a unified mechanical model is established to describe the cable balance form, so that it can be conveniently applied to the virtual assembly system of the cable. (4) based on the open source geometry kernel system, the cable is simulated under different boundary conditions. Based on the three-dimensional laser scanning technology, the cable form test test rig is set up, and the simulation and test comparison of the typical cable balance form is carried out. (5) a pneumatic feedback data glove and a desktop seven self are carried out. The interaction between force feedback device and rigid body in virtual environment is verified by human-machine interaction.
【学位授予单位】：大连海事大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TM24

【参考文献】