面向复杂机电产品的刚柔混合装配过程仿真技术
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摘要
针对复杂机电产品虚拟装配仿真中线缆的几何拓扑结构复杂且在装配过程中会产生形变,从而导致装配过程仿真困难的问题,提出一种面向复杂机电产品的刚柔混合装配过程仿真技术。建立了基于物理属性的线缆形变模型,通过该模型对柔性线缆的形变进行了实时精确模拟;建立了适用于装配仿真的柔性线缆信息模型,用于描述线缆复杂的拓扑、几何和物理属性信息,并实现了操作约束信息的有效组织和存储;在此基础上提出一种柔性线缆的碰撞检测方法,实现了柔性线缆与刚性件的碰撞以及柔性线缆自碰撞的实时检测;最后,建立了面向复杂机电产品的刚柔混合装配过程模型,实现了对柔性线缆和刚性零件的装配过程仿真信息的统一描述。基于以上研究,设计并开发了刚柔混合装配过程仿真系统,并通过实例验证了该方法的可行性。
To address the problem of complicated geometry and topology and the constantly changing configurations during assembly of cables in complex mechatronic products,which made it difficult to simulate assembly process,the rigid and flexible hybrid assembly process simulation technology for complex mechatronic products was proposed.A physically based model was constructed to simulate the deformation of flexible cables in an accurate and interactive way.Then an information model was set up,which described the topology,geometry and physical properties of cables as well as organizing and storing the manipulation constraint information effectively.On this foundation,the collision detection for flexible cables was presented,and the real-time collision detection between flexible cables and rigid parts and self-collision of flexible cables was realized.The rigid and flexible hybrid assembly process model for complex mechatronic products was built to describe the simulation information of assembly process of flexible cables and rigid parts uniformly.A prototype system for rigid and flexible hybrid assembly process simulation was developed based on the above research,and the solution was validated by this system.
To address the problem of complicated geometry and topology and the constantly changing configurations during assembly of cables in complex mechatronic products,which made it difficult to simulate assembly process,the rigid and flexible hybrid assembly process simulation technology for complex mechatronic products was proposed.A physically based model was constructed to simulate the deformation of flexible cables in an accurate and interactive way.Then an information model was set up,which described the topology,geometry and physical properties of cables as well as organizing and storing the manipulation constraint information effectively.On this foundation,the collision detection for flexible cables was presented,and the real-time collision detection between flexible cables and rigid parts and self-collision of flexible cables was realized.The rigid and flexible hybrid assembly process model for complex mechatronic products was built to describe the simulation information of assembly process of flexible cables and rigid parts uniformly.A prototype system for rigid and flexible hybrid assembly process simulation was developed based on the above research,and the solution was validated by this system.
引文
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[2]NG F M,RITCHIE J M,SIMMONS J E L,et al.Designing cable harness assemblies in virtual environments[J].Journal of Materials Processing Technology,2000,107(1/2/3):37-43.
[3]LOOCK A,SCHMER E.Physically based cables for assembly simulation in virtual reality[C]//Proceedings of the 13th European Simulation Symposium.Marseille,France:Soc Computer Simulation,2001:294-297.
[4]RITCHIE J M,ROBINSON G,DAY P N,et al.Cable harness design,assembly and installation planning using immersive virtual reality[J].Virtual Reality,2007,11(4):261-273.
[5]HERGENRTHER E,DHNE P.Real-time virtual cables based on kinematic simulation[C]//Proceedings of the Proceedings of WSCG 2000.Plzen,Czech Repubic:University of West Bohemia,2000.
[6]LIU Jianhua,WAN Bile,SUN Gang,et al.Cable harness virtual wiring and assembly process simulation technology[J].Computer Integrated Manufacturing Systems,2012,18(4):787-795(in Chinese).[刘检华,万毕乐,孙刚,等.线缆虚拟布线与敷设过程仿真技术[J].计算机集成制造系统,2012,18(4):787-795.]
[7]SHANG Wei,NING Ruxin,LIU Jianhua.Assembly process simulation for flexible cable harness in complex electromechanical products[J].Journal of Computer-Aided Design&Computer Graphics,2012,24(6):822-831(in Chinese).[尚炜,宁汝新,刘检华,等.复杂机电产品中的柔性线缆装配过程仿真技术[J].计算机辅助设计与图形学学报,2012,24(6):822-831.]
[8]WEI Fayuan,WANG Fengjun,CHEN Xinfa.Assembly simulation of complex systems with soft cables[J].Journal of Engineering Design,2007,14(1):25-30(in Chinese).[魏发远,王峰军,陈新发.含有柔性电缆的复杂系统装配仿真[J].工程设计学报,2007,14(1):25-30.]
[9]HADAP S.Oriented strands:dynamics of stiff multi-body system[C]//Proceedings of the 2006ACM SIGGRAPH/Eurographics Symposium On Computer Animation.Vienna,Austria:Eurographics Association Aire-la-Ville,2006:91-100.
[10]TERZOPOULOS D,QIN H.Dynamic NURBS with geometric constraints for interactive sculpting[J].ACM Transactions on Graphics,1994,13(2):103-136.
[11]PAI D K.STRANDS:interactive simulation of thin solids using cosserat models[J].Computer Graphics Forum,2002,21(3):347-352.
[12]GRGOIRE M,SCHMER E.Interactive simulation of one-dimensional flexible parts[J].Computer-Aided Design,2007,39(8):694-707.
[13]SPILLMANN J,TESCHNER M.CORDE:cosserat rod elements for the dynamic simulation of one-dimensional elastic objects[C]//Proceedings of Symposium on Computer Animation2007:ACM SIGGRAPH/Eurographics Symposium.San Diego,California:ACM,2007:63-72.
[14]LYU Naijing,LIU Jianhua,DING Xiaoyu,et al.Assembly simulation of multi-branch cables[J].Journal of Manufacturing Systems,2017,45(3):201-211.
[15]JIN Wangtao.Research on motion simulation and layout optimization of motional cable in virtual environment[D].Beijing:Beijing Institute of Technology,2015(in Chinese).[金望韬.虚拟环境下活动线缆运动仿真与布局优化技术[D].北京:北京理工大学,2015.]
[16]LIU Jianhua,ZHAO Tao,WANG Chunsheng,et al.Motional cable harness physical characteristic oriented modeling and kinetic simulation technology in virtual environment[J].Chinese Journal of Mechanical Engineering,2011,47(9):117-124(in Chinese).[刘检华,赵涛,王春生,等.虚拟环境下的活动线缆物理特性建模与运动仿真技术[J].机械工程学报,2011,47(9):117-124.]