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ISSN      1003-9775
CN        11-2925/TP
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基于精确Cosserat模型的柔性线缆物理特性建模与变形仿真技术

王发麟1), 廖文和1), 郭 宇1), 王晓飞1,2)
1) (南京航空航天大学机电学院 南京 210016)2) (南京电子技术研究所 南京 210039)
分类号: TP391.9
出版年,卷(期):页码: 2017 , 29 ( 7 ): 1343-1355 王发麟
摘要: 复杂机电产品中柔性线缆敷设时空间位姿和形态易发生变化,从而导致线缆在敷设过程中线缆取样信息不准确, 严重影响线缆敷设效率. 为此,提出一种基于精确Cosserat模型的柔性线缆物理特性建模与变形仿真方法. 该方法针对线缆大变形特性, 先建立线缆活动标架和线缆参数化模型, 并分析线缆的空间演化过程; 其次对线缆空间位姿和形态进行描述, 综合考虑线缆的几何特性和物理特性建立了基于精确Cosserat模型的线缆物理特性模型, 构建出柔性线缆的动力学平衡方程; 最后对模型进行数值积分求解, 模拟线缆在敷设过程中的变形过程. 文中设计并开发了相应的柔性线缆布局仿真原型系统, 并通过实例对文中方法进行了验证.
关键词: 柔性线缆; 物理特性建模; 变形仿真; 精确Cosserat模型; 数值计算
Physical Characteristics Modeling and Deformation Simulation Technology for Flexible Cable Harness Based on Exact Cosserat Model
Wang Falin1), Liao Wenhe1), Guo Yu1), and Wang Xiaofei1,2)
1) (College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016)2) (Nanjing Research Institute of Electronics Technology, Nanjing 210039)
abstract: The spatial pose and shape of flexible cable harness are easy to change during the wiring in complex mechatronic products, thus lead to inaccuracy of the sampling information of cable harness in the process of wir-ing, and seriously affect the efficiency of wiring. This paper proposes a physical characteristics modeling and de-formation simulation method for flexible cable harness based on exact Cosserat model. First, for the large deformation characteristics of cable harness, we build an activity frame and a parameterized model of cable harness, and analyze the spatial evolutionary process. Secondly, we describe the spatial pose and shape of cable harness, and establish a physical characteristics model of cable harness based on exact Cosserat model by comprehensive consideration of the cable harness geometry and physical properties, and then construct the dynamic equilibrium equations of flexible cable harness. Finally, to simulate the deformation process in the process of wiring, we solve the physical characteristics model by using the numerical integration solution method. In this paper, we design and develop a corresponding prototype system of flexible cable harness wiring/simulation, and verify the proposed method by a specific case.
keyword: flexible cable harness; physical characteristics modeling; deformation simulation; exact Cosserat model; numeric calculation
 
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