| 一种用于力觉再现的柔性体变形仿真弹簧-质点模型 |
| |
| 引用本文： | 崔桐,宋爱国,吴涓.一种用于力觉再现的柔性体变形仿真弹簧-质点模型[J].东南大学学报(自然科学版),2007,37(5):849-852. |
| |
| 作者姓名： | 崔桐 宋爱国 吴涓 |
| |
| 作者单位： | 东南大学仪器科学与工程学院,南京,210096 |
| |
| 基金项目： | 国家重点基础研究发展计划(973计划)，国家自然科学基金，江苏省研究生科研创新计划 |
| |
| 摘 要： | 提出一种新型的在虚拟现实中可实现的弹簧-质点力/变形模型.它按质点连接顺序划分层次,以受力网格为第1层,构建类似同心环状的弹簧-质点系统.施力刚体以点接触的方式与柔性体进行力交互作用.运用虚功原理,结合施力刚体与受力柔性体组成的系统中虚拟力和质点位移的关系,区别于以往对局部变形的研究,对柔性体进行全局变形分析.柔性体变形是整个柔性体表面质点在力平衡条件下位移变化累加的结果.利用DELTA 手控器对柔性体的接触变形以及实时虚拟力反馈进行仿真,实验表明所提出的方法适用于柔性体的力反馈计算,满足精细作业对虚拟现实系统的要求.
|
| 关 键 词： | 弹簧-质点模型 虚拟现实 力反馈 |
| 文章编号： | 1001-0505（2007）05-0849-04 |
| 修稿时间： | 2007-03-19 |
Efficient model for haptic display of flexible object deformation using mass-spring systems |
| |
| Cui Tong,Song Aiguo,Wu Juan.Efficient model for haptic display of flexible object deformation using mass-spring systems[J].Journal of Southeast University(Natural Science Edition),2007,37(5):849-852. |
| |
| Authors: | Cui Tong Song Aiguo Wu Juan |
| |
| Institution: | School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China |
| |
| Abstract: | An improved discrete mass-spring model is proposed for modeling of flexible object deformation,and its surface is divided radially along force mesh named the first hierarchy.The mass-spring system is composed of nodes connected with radially distributed springs.The interaction between rigid object and flexible object is performed by the point contact.Using theory of virtual work,the relations between virtual force and displacements of mass are analyzed to get whole flexible object deformation in the visual system instead of some usual local analyses.Visual object deformation is simulated by computing nodal deformation based on force equation at each mesh node in the surface.Using this model,the flexible object deformation is simulated,and synchronously the realtime virtual contact force is provided with DELTA haptic device. |
| |
| Keywords: | mass-spring model virtual reality force feedback |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
