Efficient simulation and rendering of realistic motion of one-dimensional flexible objects

Menon, Midhun S.; Gurumoorthy, B.; Ghosal, Ashitava

doi:10.1016/j.cad.2016.02.003

Cited by 7 publications

(3 citation statements)

References 21 publications

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“…Valentini et al studied cables in an augmented reality environment using this model 21 . Menon et al studied the motion simulation and rendering of 1DFOs 22 . However, the deformation relation of 1DFOs can only be approximated by this method, but the accuracy cannot be guaranteed, and the torsional deformation is well described.…”

Section: Related Workmentioning

confidence: 99%

Physical modeling and geometric shape simulation for one-dimensional flexible objects with cylindrical surface constraints

Mei

Jiang

et al. 2023

Sci Rep

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This study develops forces equilibrium differential equations for the geometric modeling of 1D flexible objects with surface constraints. These second-order equations are an extension of the Cosserat elastic rod theory and include both bending and torsion. Variables were established for the centerline and attitude in the Cartesian coordinate system of the cross section. This paper specifically investigates the case of a 1D flexible object constrained by a cylindrical surface. To solve this problem, a novel hybrid semi-analytical numerical method is proposed. In this process, a Hamiltonian function and an initial integral operator are introduced in a cylindrical coordinate system. The analytical solution, decoupled in polar coordinates, is then derived. The improved finite difference method was then used to obtain three cylindrical coordinates, which ensured numerical stability and efficiency. The results of a geometric shape simulation with differing boundary conditions demonstrate that this proposed method is capable of real-time modeling. As such, this technique could be a promising new tool for use in graphics simulations of elongated structures, such as DNA molecules, drill pipes, and submarine cables.

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Section: Related Workmentioning

confidence: 99%

Physical modeling and geometric shape simulation for one-dimensional flexible objects with cylindrical surface constraints

Mei

Jiang

et al. 2023

Sci Rep

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“…In addition, the high complexity of the dynamic system has led many researchers to replace the dynamic process with a quasi-static process. [5][6][7][8] However, this approach can obtain the geometrical form of a 1D flexible body only at the initial moment t0 and the final moment t1, and therefore cannot account for changes in the shape of the flexible body in the interval, which can be substantial owing to contacts occurring during that interval. Therefore, the dynamic simulation of 1D flexible bodies must account for dynamic process collision constraints, in conjunction with the fast and accurate calculation and robust control of the dynamic system.…”

Section: Introductionmentioning

confidence: 99%

Computer-assisted assembly process planning for the installation of flexible cables modeled according to a viscoelastic Cosserat rod model

Jiang

Xiong

2022

Proceedings of the Institution of Mechanical Engineers, Part B:

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Available computer-aided assembly process planning methods fail to provide the necessary level of accuracy required by modern complex planning processes owing to the neglect of the internal friction arising in the process of cable movement and large cable deformation conditions. The present study addresses this issue by developing a computer-aided assembly process planning method that inherently considers the tensile, bending, and torsional deformations of cables based on a dynamic viscoelastic Cosserat model describing cable motion. The simulation module of the virtual cable assembly process integrates and optimizes an efficient and robust algorithm for rapidly solving the dynamic cable model based on a semi-implicit Euler method. The performance of the proposed method is verified by demonstrating the rationality and accuracy of the assembly path planning and multi-cable assembly sequence obtained by the virtual assembly simulation module for a modeled prototype of a complex electromechanical product produced in the aerospace industry.

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“…A single link consists of a leading end and a trailing end, and the leading end can track any 2D or 3D path in task space, while the trailing end follows the tractrix curve formulation, during which the link's length remains unchanged. The tractrix-based method can be utilized to simulate the motion of one-dimensional flexible objects such as cables, ropes, ribbons, hair, and hyper-redundant manipulators in free space [44,45,46]. When the tractrix-based method is used in obstacle avoidance planning, optimization techniques must be incorporated to guide the trailing end of each link to escape away from the obstacles with a minimal energy cost.…”

Section: Introductionmentioning

confidence: 99%

An obstacle avoidance algorithm for space hyper-redundant manipulators using combination of RRT and shape control method

Zhang

Liu

2021

Robotica

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This paper proposes a kinematic obstacle avoidance algorithm for Space hyper-redundant manipulators, and its basic idea is to use a static and a dynamic curve to constrain the macroshape of the manipulators simultaneously. The static curve is constructed based on a traditional rapidly exploring random tree algorithm, and a backbone curve is utilized as the dynamic curve. For these two curves, two novel shape control methods are proposed to accomplish the shape constraining process. Finally, we verify the reliability and effectiveness of our algorithm through simulations.

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Efficient simulation and rendering of realistic motion of one-dimensional flexible objects

Cited by 7 publications

References 21 publications

Physical modeling and geometric shape simulation for one-dimensional flexible objects with cylindrical surface constraints

Physical modeling and geometric shape simulation for one-dimensional flexible objects with cylindrical surface constraints

Computer-assisted assembly process planning for the installation of flexible cables modeled according to a viscoelastic Cosserat rod model

An obstacle avoidance algorithm for space hyper-redundant manipulators using combination of RRT and shape control method

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