Physical Modeling And Configuration Simulation For Flexible Cable

Cable has a pivotal position in the automotive, marine, aircraft and other complex electromechanical products; Cable proportion is becoming lager and lager, due to the informationization, light-weight, precision, and optics-mechanics-electrics integration of the complex products. Whether the traditional serial design methods or existing CAD methods, cable is designed as a rigid body for current cable design of electromechanical products, which causes low design precision and could not verify the assembly process. The emergence of virtual assembly technology for digital design and manufacture of cable brings a new way of thinking. This paper conduct studies on calbe physical modeling and configuration simulation on the base of nonlinear mechanics of elastic rod, laying a good foundation for the development of a sound cable virtual assembly system.The studies of this dissertation focus on following aspects:(1) From the perspective of of differential geometry, based on analysis of the curve geometry and the curved bar geometry, a balanced description of the basic cable static model is established according to the nonlinear elastic rod mechanics.(2) For both-end fixed cable under ideal conditions, the Euler angles are as reference variable, a mechanical model is established to describe the shape of the cable, and a semi-analytical method is proposed to solve the model based on the Kinetic analogy method;(3) Considering cable distribution force and the contact force of complex constraints, Euler parameters are as reference variable to describe mechanical model, a numerical solution of the model is proposed via combining a sequential two separate discretization method and Steepest descent method. From the variational principle and considering suffered different geometric constraints of the cable, the establishment of a unified model is founded to describe the mechanical cable equilibrium shape, so that it can be easily applied to the virtual assembly system cables;(4) Based on an open-source geometric kernel system, cable configuration simulation is studied under different boundary conditions; a test platform using three-dimensional laser scanning technology is established to gain actual cable configuration; simulation and test cable comparative study of typical forms is carried out.(5) Human-computer interaction research is studied based on a force feedback dataglove and a desktop 7-DOF force feedback device; the force haptic verification is carried out between the force feedback device and the virtual environment for the rigid bodies.