基于蜂窝状多孔固体结构的柔性物体模型研究

›› 2012, Vol. 25 ›› Issue (3): 4-.

基于蜂窝状多孔固体结构的柔性物体模型研究

万文章,陆熊

(南京航空航天大学自动化学院,江苏南京 210016)

出版日期:2012-03-15 发布日期:2012-03-21
作者简介:万文章(1987—),男,硕士研究生。研究方向:力触觉再现系统,人机交互。
基金资助:
南京航空航天大学引进人才科研启动基金资助项目;江苏省自然科学基金资助项目(BK2010507)

A Model for Simulating Deformable Objects Based on the Honeycomb Structure

WAN Wen-Zhang, LIU Xiong

(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

Online:2012-03-15 Published:2012-03-21

摘要/Abstract

摘要：

针对虚拟手术中柔性物体仿真的实时性和真实性要求,提出了一种基于蜂窝状多孔固体结构的力触觉再现模型。该模型利用多孔固体中的蜂窝单元构建柔性物体,将受表面压力影响的三维空间细化为蜂窝形状,基于结构力学中的标准梁理论获得蜂窝单元形变和作用力关系的解析表达式,进而实现基于物理意义的柔性物体形变仿真。模型不仅具有较好的形变计算实时性,而且通过改变蜂窝单元的弹性模量、孔穴边长和内角等参数,可以实现多种线性与非线性形变仿真。基于Falcon手控器构建的力触觉再现原型系统,验证了该模型的实时性和逼真性。

关键词: 力触觉再现, 多孔固体, 蜂窝, 标准梁理论

Abstract:

A haptic model based on the honeycomb structure of cellular solids is developed to satisfy the requirements of real-timeness and authenticity for simulating deformable objects in the virtual surgery.Honeycomb units of cellular solids are employed to construct the deformable object,and the space affected by the surface pressure is refined to the honeycomb shape.Based on the standard beam theory in Structural Mechanics,an analytical expression of the relationship between deformation and force of honeycomb units is obtained,so as to achieve physical meaning-based simulation of the deformable object.Not only does the model have better real-time deformation calculation,but also a variety of linear and nonlinear deformation simulation can be achieved.A haptic feedback prototype system based on hand controller “Falcon” verifies the real-time and realistic effect of the model.

Key words: haptic rendering;cellular solids;honeycomb;standard beam theory

中图分类号:

TP242.6

万文章, 陆熊. 基于蜂窝状多孔固体结构的柔性物体模型研究[J]. , 2012, 25(3): 4-.

WAN Wen-Zhang, LIU Xiong. A Model for Simulating Deformable Objects Based on the Honeycomb Structure[J]. , 2012, 25(3): 4-.

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