基于改进弹簧-质点模型的形变建模及力反馈算法研究

发布时间：2019-06-13 16:00

【摘要】：基于弹簧-质点模型的基础上提出一种新的可变菱形拓扑结构模型,通过改变菱形边弹簧的长度及弹簧系数、初始夹角,可实现该模型对不同器官的形变模拟。此外在模型中加入虚拟弹簧提供约束力,避免外力过大出现超弹性现象,并用于形变过程中反馈力的计算。在力反馈形变算法中,筛选有效的移动质点,并把这些移动质点形成区域面积的改变与作用力联系起来,计算量小,从而简化了传统的弹簧-质点模型的力反馈算法。基于此模型采用PHANTOM触觉交互设备进行受力形变模拟实验。实验结果表明,该模型结构简单易于实现,采用的力反馈形变算法,降低了形变计算的次数,提高了形变的实时性,具有更逼真的形变效果。
[Abstract]:Based on the spring-particle model, a new variable rhomboid topological structure model is proposed. By changing the length, spring coefficient and initial angle of the rhomboid edge spring, the deformation simulation of different organs can be realized by the model. In addition, the virtual spring is added to the model to provide binding force to avoid the superelastic phenomenon of excessive external force, and it is used to calculate the feedback force in the deformation process. In the force feedback deformation algorithm, the effective moving particles are selected, and the change of the area of these moving particles is associated with the force, so the calculation is small, which simplifies the force feedback algorithm of the traditional spring-particle model. Based on this model, PHANTOM tactile interactive equipment is used to simulate the stress deformation. The experimental results show that the structure of the model is simple and easy to implement, and the force feedback deformation algorithm is used to reduce the number of deformation calculations, improve the real-time deformation, and has a more realistic deformation effect.
【作者单位】：燕山大学信息科学与工程学院;河北省特种光纤与光纤传感重点实验室;
【基金】：国家自然科学基金资助项目(61201112,61172044) 河北省自然科学基金资助项目(F2013203250,F2012203169)
【分类号】：R318.01;TP391.9

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