METHOD AND APPARATUS FOR SIMULATING POSTURE OF FLEXIBLE CABLE BASED ON SPRING-MASS MODEL COMBINING BENDING AND TORSION

摘要

A method for simulating a posture of a flexible cable based on a spring-mass model combining bending and torsion includes: establishing a physical property model of the cable, wherein a torsion property is represented by a torsion spring attached at each 55 cable segment; obtaining an initial position of each discrete mass point based on a total length of the cable and the number of the cable segments; identifying discrete mass points at both ends as fixed points, and obtaining their position information; calculating stress information of other discrete mass points whose position information is not determined based on the physical property model; sequentially calculating 10 10 equilibrium positions of the other discrete mass points by using the stress information and the initial positions to obtain their the position information; and simulating a stable posture of the cable based on the position information of the fixed points and the other discrete mass points.

主权项

1. A method for simulating a posture of a flexible cable based on a spring-mass model combining bending and torsion, comprising:
representing the flexible cable by combining and arranging a plurality of discrete mass points, so as to establish a physical property model of the flexible cable, wherein:
a tensile property of the flexible cable is described by a linear spring between two adjacent discrete mass points on the flexible cable,a bending property of the flexible cable is described by a bending spring attached at each of the discrete mass points, anda torsion property of the flexible cable is described by a torsion spring attached at each cable segment of the flexible cable; obtaining an initial position of each of the discrete mass points based on a total length of the flexible cable and the number of the cable segments; identifying the discrete mass points at both ends of the flexible cable as fixed points, and obtaining position information of the fixed points; calculating stress information at the other discrete mass points whose position information is not determined on the flexible cable based on the physical property model; sequentially calculating equilibrium positions of the other discrete mass points whose position information is not determined by using the obtained stress information and the initial positions, so as to obtain the position information of the other discrete mass points; and simulating a stable posture of the flexible cable based on the position information of the fixed points and the position information of the other discrete mass points on the flexible cable.