CN108536937A - The physical modeling of multi-way cable net and wiring emulation mode under a kind of virtual environment - Google Patents
The physical modeling of multi-way cable net and wiring emulation mode under a kind of virtual environment Download PDFInfo
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
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Abstract
The physical modeling of multi-way cable net and wiring emulation mode, feature include mainly under a kind of virtual environment：With trunk section and branch's segment description multi-way cable net, the geometrical model and physical model of multi-way cable net are established；Pass through constraint classification construction of cable typical types of the multi-way cable net at branch point；The wiring simulation process that discrete cable center line solves pose and provides multi-way cable net is crossed by multi-way cable Netcom.The embodiment of the present invention accurately carries out physical modeling to multi-way cable net, so that flexible cable network simulation is more in line with reality, and then provides Technical Reference to a certain extent for multi-way cable screen cloth line.
Description
Technical field
The present invention relates to a kind of physical modelings of multi-way cable net under virtual environment and wiring emulation mode, specifically
It is the geometry and physical model by establishing multi-way cable net and describes its pose in simulation process.According to multi-way cable
The structure feature of net determines the variation of its geometrical constraint and son field at branch point and the physical parameter between trunk section, with
This solves the pose change procedure and its wiring process of multi-way cable net dynamic simulation, to be multi-way cable net reality
Wiring provides reference.
Background technology
Cable is as connection electric components, the part of electrical equipment or control device, in vehicle, ship and aviation
Occupy very important status in space product field.Cable in electronic product has complicated topological structure, especially electric
Cable net includes multiple branches so that it comes in every shape.Cable system is in assembling process since assembly space is small and can be by not
Same space constraint so that cable system is assembled into problem.The assembly of cable system at present is serious mostly based on manual assembly
Dependent on experience, and there is hysteresis quality.Along with the continuous development of computer, traditional manufacturing industry also alternates, virtual to fill
With technology new solution is provided for the assembly of cable system.It is that cable system virtually fills to establish suitable accurately cable pessimistic concurrency control
Where the basis matched, consider that the cable pessimistic concurrency control that cable system multiple-branching construction is established more is consistent with practical, simultaneously for soft
Property cable system practical set more there is directive significance.
The modeling of flexible cable net includes the Geometric Modeling and physical modeling of cable.Geometrical model includes the several of cable system
What form and topology information, physical model consider tension, bending resistance, torsional rigidity and the various constraints of cable system, make its dynamic
Emulation form is more in line with the actual form of cable system.J.Linn[Linn J,Stephan T.Simulation of
quasistatic deformations using discrete rod models[M].Franuhofer-Institut fur
Techno-und Wirtschaftsmathematik, Fraunhofer (ITWM), 2008.] utilize section and the position of center line
The method of appearance describes cable, this method think flexible cable space geometry form can by center line and section morphology come
Joint description.Wherein, the center line morphology of cable can be described by space curve, and rigid section morphology is by being located at discrete point
The torsion in section determines.Tomas Hermansson(Hermansson T,Bohlin R,Carlson J S,et
al.Automatic assembly path planning for wiring harness installations[J]
.Journal of manufacturing systems,2013,32(3):It 417-422.) is based on Cosserat theories and proposes electricity
Cable automatic path planning method by minimizing energy method and introduces boundary condition to cable space bit using assembly path as target
Appearance real-time solves.Smoothing techniques are carried out to the coordinate at the cable control point solved, this model is in the path of unit cable
It is applied successfully in planning.The degree of the Maritime Affairs University Of Dalian is red to hope that [the red prestige flexible cable physical property modeling of degree emulates [D] with geometric shape
The Maritime Affairs University Of Dalian, 2014.] it is analyzed respectively in the ideal Kirchhoff equations with the cable under Complex Constraints.It is resonable respectively
Think under state and Complex Constraints under establish equilibrium equation and the solution of cable.Liu of Beijing Institute of Technology examines China, and [Liu examines China, vast stretch of wooded country
The vertical modeling method for waiting a kind of cables based on Ke Sela model of elastic rod of and the Beijing device [P]:CN104992025A,
2015-10-21.] propose a kind of Cable Modeling and its device based on Cosserat elastic rods, cable tracer is carried out
Sliding-model control describes between elastic potential energy and the quaternary number and every section of endpoint space coordinate at discrete cable center line segment midpoint
Relational expression, wherein including stretcher strain energy relational expression and bending, torsional energy relational expression.Constraint is introduced in the form of penalty function
Condition acquires the minimum value of the sum of elastic potential energy and penalty function by nonlinear least square method, to solve extreme coordinates.
As known from the above, previous cable model of elastic rod problem is：Flexible cable assembly simulation is mostly with single at present
Cable is research object, and is to carry out assembly manipulation to bunch of cables during practical set.It is imitative to flexible cable assembled form
Since its complex shape is changeable when true, can be acted on by different space constraints in assembling process so that its form is difficult to accurately
Description.This just needs to model multi-way cable, and reality is more in line in the cable model that this is established out.
Invention content
It is an object of the invention to existing cable distribution and emulation mode cannot solve cable wiring in bundles emulation, using by
The problem of limit, provides the physical modeling of multi-way cable net and wiring emulation mode under a kind of virtual environment, solves the prior art
Middle flexible cable assembly is with single the problem of studying to be difficult to actually matching.
One of technical scheme of the present invention is：
The Method of Physical Modeling of multi-way cable net under a kind of virtual environment, it is characterized in that：
Multi-way cable net is made of multiple cut cables and branch point, and multiple-limb electricity is characterized by section and center line pose
The geometric shape of cable net is tied up based on the statical model of each cable branch of Cosseart model foundations, and according to bunch of cables
Type is established each branch and is constrained with connection tangential direction of the trunk at branch point respectively, and the several of multi-way cable net are established with this
What model and physical model；The cut cable is divided into two classes according to branch's point feature：Trunk section and son field, the both ends of trunk section
It is branch point, one end of son field is branch point, and the other end is port, as shown in Figure 3；The branch of the multi-way cable net
Section is divided into the constraint of first kind branch and the constraint of the second class branch according to the tangential direction tied up at branch point.
The cross-sectional area of the trunk section cable is 0.9n~1.1n times of unit cable cross-sectional area, and wherein n is
The unit cable number that main cable is included, the bending stiffness and torsional rigidity of main cable are (0.9n) of unit cable2~
(1.1n)2Times.
Wherein, the structure of multi-way cable net is divided into following two categories according to the tangential direction constrained type at branch point：
1. first kind branch constrains：Son field and trunk section are tangent at branch point there are one only, other son fields are dividing
The connection tangential direction of fulcrum determines by tying up direction, as shown in Figure 3；
2. the second class branch constrains：All son fields are tangent with trunk section at branch point, as shown in Figure 4.
Technical scheme of the present invention second is that：
The wiring emulation mode of multi-way cable net under a kind of virtual environment, interacts it is characterized in that being assembled according to various wirings
Operating position coordinate solves cable system physical model, obtains each son field of cable system and the position and posture of trunk section, main
Include the following steps (as shown in Figure 5)：
Step 1：Input the position coordinates and its Euler Parameter at clamping movement multi-way cable control point；
Step 2：Position coordinates and its Euler Parameter based on the given control point of step 1 solve the position of movement cut cable
Appearance；
Step 3：By the constraint at the pose and branch point of gained cut cable obtain position coordinates at branch point and its
Euler Parameter；
Step 4：Traverse all cut cables being connected with branch point；
Step 5：Whether the cut cable traversed out in judgment step four is son field, if so, solving the position of son field
Appearance, if it is not, going to step three after then solving the pose of trunk section；
Step 6：Whether the cut cable traversed out in judgment step four all solves, if carrying out in next step, if it is not, turning
To step 5；
Step 7：It obtains the pose of all cut cables of multi-way cable and carries out rendering to its form showing.
The method for solving of cut cable physical model is mainly included the following steps that (as shown in Figure 6)：
Step 1：The position coordinates and its Euler Parameter of input cable section input control point；
Step 2：Judge whether the position of input control point is cut cable endpoint, if so, using endpoint location as arc coordinate s
=0 position, if it is not, cut cable is segmented with the position of input control point, using the position of input control point as arc coordinate s
=0 position；
Step 3：Judge that cut cable is constrained with the presence or absence of clip, if so, the position coordinates of input clip and its Euler's ginseng
Number, and numerical solution is carried out to the pose of input control point to cut cable between clip by least square method, if it is not, by most
Small square law numerical solution cut cable pose；
Step 4：The numerical morphological of last output cable section.
It is when carrying out multi-way cable net physical model numerical solution that continuous geometry model is discrete with the progress of each branch, lead to
The center line of discrete multi-way cable net is crossed, and Euler Parameter derivative is described by difference coefficient mode, solves multi-way cable
Net the Euler Parameter of each discrete point.
It can be expressed as (such as Fig. 2 institutes using the cable infinitesimal section equation of static equilibrium under Cosserat Theoretical Equilibrium states
Show)：
By introducing Euler Parameter and its to the derivative (q of arc coordinatek(s)、Qk(s), (k=1,2,3,4)) to cable static(al)
Equilibrium equation is described：
Using finite element theory, cable is divided into n unit, the total n+1 control point of cable, each element length is △
S=L/n.The derivative of Euler Parameter indicated using quotient's difference of Euler Parameter at adjacent cable control point,
Based on the representation method of Euler Parameter derivative, the equilibrium equation of cable and its constraint equation can be converted to 8n
A algebraic equation,
Wherein 2≤i≤n+1.
It can be expressed as based on finite element theory flexible cable center line coordinates,
The boundary condition of flexible cable pose is represented by following formula, wherein ξn+1、ηn+1、ζn+1For the coordinate of the cable other end,
It is the coordinate of assembly path discrete point.
There is q by the unknown number in the above algebraic equationK, iAnd QK, i, wherein 1≤k≤4,1≤i≤n+1, total 8n+8.
When compliance cable assembles, the Euler Parameter of one end is it is known that i.e. qK, iIt is known.Then equation is closed, and can pass through levenberg-
Marquard algorithm iterations find out the solution of algebraic equation.Using discrete assembly path point as the time dimension of cable, then obtains q, Q and exist
After the changing rule of two dimensions of time and space, the pose of cable any time can be solved.
In addition, flexible cable net can be by different constraints, to unit cable statics under plane restriction in assembling process
Model solution, wherein the plane to suffer restraints is described by equation A ξ+B η+C ζ=D under inertial coodinate system.Plane is about
Beam cable is by planar support power fNPerpendicular to plane, then fNDirection be plane normal vector (A, B, C).Planar support power fNTable
It is shown as：
Wherein it is planar support force coefficient.In this, there are qk, Qk(k=1,2,3,4), Fx, Fy, FzTotally 12 variables.In this
The equation of static equilibrium under plane restriction can be solved by given cable initial point position and initial Eulerian angles.
The beneficial effects of the invention are as follows：
In the embodiment of the present invention, its assembly behaviour in the satel-lite is completed by carrying out modeling to multi-way cable in satellite
Make.It is in the dynamic pose solution procedure of its multi-way cable, known assembly path is discrete, it is flexibility with discreet paths point
The movable end position of cable, corresponds to various discrete path point on schedule, to which Dynamic profiling goes out the pose variation of cable.From
And provide reference to the assembly of multi-way cable.
Description of the drawings
Fig. 1 is present invention description cable coordinates system schematic diagram；
Fig. 2 is Cosserat theories cable infinitesimal section balance schematic diagram of the present invention；
Fig. 3 is first kind branch constraint cable system typical structure geometrical model schematic diagram of the present invention；
Fig. 4 is the second class branch constraint cable system typical structure geometrical model schematic diagram of the invention；
Fig. 5 is multi-way cable network simulation flow diagram of the present invention；
Fig. 6 is that cut cable form of the present invention solves flow diagram；
Fig. 7 is plane restriction unit cable Dynamic profiling schematic diagram of the present invention；
Fig. 8 is present example multi-way cable net geometry Turbo codes schematic diagram；
Fig. 9 is present example multi-way cable net Virtual assemble work step one；
Figure 10 is present example multi-way cable net Virtual assemble work step two；
Figure 11 is present example multi-way cable net Virtual assemble work step three.
Specific implementation
The present invention is described further with embodiment with reference to the accompanying drawings.
Embodiment one.
As shown in Figs 1-4.
The Method of Physical Modeling of multi-way cable net under a kind of virtual environment, the multi-way cable net is by multiple cables
Section and branch point composition, the geometric shape of multi-way cable net is characterized by section and center line pose, provides retouch as shown in Figure 1
Each coordinate system of flexible cable net pose is stated, including arc coordinate system (s), inertial coodinate system (O- ξ η ζ), Frenet coordinate systems
(P-NBT) and section main shaft coordinate system (P-xyz).Based on the statical model of each cable branch of Cosseart model foundations,
And type is tied up according to bunch of cables and establishes connection tangential direction constraint of each branch with trunk at branch point respectively, it is established with this
The geometrical model and physical model of multi-way cable net；Cable system is divided into two classes according to branch's point feature：Trunk section and son field,
The both ends of trunk section are branch point, and one end of son field is branch point, and the other end is port, as shown in Figure 3；The multiple-limb
The son field of cable system is divided into the constraint of first kind branch according to the tangential direction tied up at branch point and the second class branch constrains.
The cross-sectional area of the trunk section cable is 0.9n~1.1n times of unit cable cross-sectional area, and wherein n is main cable
Including unit cable number, the bending stiffness and torsional rigidity of main cable are (0.9n) of unit cable2~(1.1n)2Times.
The structure of multi-way cable net is divided into following two categories according to the tangential direction constrained type at branch point：
1. first kind branch constrains：Son field and trunk section are tangent at branch point there are one only, other son fields are dividing
The connection tangential direction of fulcrum determines by tying up direction, as shown in Figure 3；
2. the second class branch constrains：All son fields are tangent with trunk section at branch point, as shown in Figure 4.
Embodiment two.
As viewed in figures 5-8.
The wiring emulation mode of multi-way cable net under a kind of virtual environment assembles interactive operation position according to various wirings
Coordinate solves cable system physical model, obtains each son field of cable system and the position and posture of trunk section, include mainly with
Lower step (as shown in Figure 5)：
Step 1：Input the position coordinates and its Euler Parameter at clamping movement multi-way cable control point；
Step 2：Position coordinates and its Euler Parameter based on the given control point of step 1 solve the position of movement cut cable
Appearance；
Step 3：By the constraint at the pose and branch point of gained cut cable obtain position coordinates at branch point and its
Euler Parameter；
Step 4：Traverse all cut cables being connected with branch point；
Step 5：Whether the cut cable traversed out in judgment step four is son field, if so, solving the position of son field
Appearance, if it is not, going to step three after then solving the pose of trunk section；
Step 6：Whether the cut cable traversed out in judgment step four all solves, if carrying out in next step, if it is not, turning
To step 5；
Step 7：It obtains the pose of all cut cables of multi-way cable and carries out rendering to its form showing；
The method for solving of cut cable physical model is mainly included the following steps that (as shown in Figure 6)：
Step 1：The position coordinates and its Euler Parameter of input cable section input control point；
Step 2：Judge whether the position of input control point is cut cable endpoint, if so, using endpoint location as arc coordinate s
=0 position, if it is not, cut cable is segmented with the position of input control point, using the position of input control point as arc coordinate s
=0 position；
Step 3：Judge that cut cable is constrained with the presence or absence of clip, if so, the position coordinates of input clip and its Euler's ginseng
Number, and numerical solution is carried out to the pose of input control point to cut cable between clip by least square method, if it is not, by most
Small square law numerical solution cut cable pose；
Step 4：The numerical morphological of last output cable section.
It is when carrying out multi-way cable net physical model numerical solution that continuous geometry model is discrete with the progress of each branch, lead to
The center line of discrete multi-way cable net is crossed, and Euler Parameter derivative is described by difference coefficient mode, solves multi-way cable
Net the Euler Parameter of each discrete point.
It can be expressed as (such as Fig. 2 institutes using the cable infinitesimal section equation of static equilibrium under Cosserat Theoretical Equilibrium states
Show)：
By introducing Euler Parameter and its to the derivative (q of arc coordinatek(s)、Qk(s), (k=1,2,3,4)) to cable static(al)
Equilibrium equation is described：
Using finite element theory, cable is divided into n unit, the total n+1 control point of cable, each element length is △
S=L/n.The derivative of Euler Parameter indicated using quotient's difference of Euler Parameter at adjacent cable control point,
Based on the representation method of Euler Parameter derivative, the equilibrium equation of cable and its constraint equation can be converted to 8n
A algebraic equation,
Wherein 2≤i≤n+1.
It can be expressed as based on finite element theory flexible cable center line coordinates,
The boundary condition of flexible cable pose is represented by following formula, wherein ξn+1、ηn+1、ζn+1For the coordinate of the cable other end,
It is the coordinate of assembly path discrete point.
There is q by the unknown number in the above algebraic equationK, iAnd QK, i, wherein 1≤k≤4,1≤i≤n+1, total 8n+8.
When compliance cable assembles, the Euler Parameter of one end is it is known that i.e. qK, iIt is known.Then equation is closed, and can pass through levenberg-
Marquard algorithm iterations find out the solution of algebraic equation.Using discrete assembly path point as the time dimension of cable, then obtains q, Q and exist
After the changing rule of two dimensions of time and space, the pose of cable any time can be solved.
In addition, flexible cable net can be by different constraints, to unit cable statics under plane restriction in assembling process
Model solution, wherein the plane to suffer restraints is described by equation A ξ+B η+C ζ=D under inertial coodinate system.Plane is about
Beam cable is by planar support power fNPerpendicular to plane, then fNDirection be plane normal vector (A, B, C).Planar support power fNTable
It is shown as：
Wherein it is planar support force coefficient.In this, there are qk, Qk(k=1,2,3,4), Fx, Fy, FzTotally 12 variables.In this
The equation of static equilibrium under plane restriction can be solved by given cable initial point position and initial Eulerian angles.
Details are as follows：
Fig. 1~2 show each coordinate system of flexible cable net pose, including arc coordinate system (s), inertial coodinate system (O- ξ
η ζ), Frenet coordinate systems (P-NBT) and section main shaft coordinate system (P-xyz).With trunk section and branch's segment description multi-way cable
Net is characterized the geometric shape of multi-way cable net by section and center line pose, is based on each electricity of Cosseart model foundations
The statical model of cable branch, and type tied up according to bunch of cables establish each branch respectively and cut with connection of the trunk at branch point
Line direction constrains, and the geometrical model and physical model of multi-way cable net are established with this.Fig. 3~4 provide multi-way cable net
Two quasi-representative branches constrain；The position of multi-way cable fixed point is obtained according to the topological structure of multi-way cable net and link information
Confidence ceases；Wiring emulation is carried out to cable system according to the geometry of multi-way cable net and physical model；For trunk section, electricity
The cross-sectional area of cable with unit cable cross-sectional area at multiple proportion, then for the bending stiffness of main cable and it is antitorque just
Degree is (0.9n) of unit cable2~(1.1n)2Times.
Wherein, the wiring emulation mode of multi-way cable net is to assemble interactive operation position coordinates according to various wirings, right
Cable system physical model is solved, and is obtained each son field of cable system and the position and posture of trunk section, is mainly included the following steps that：
Step 1：Input the position coordinates and its Euler Parameter at clamping movement multi-way cable control point；
Step 2：Position coordinates and its Euler Parameter based on the given control point of step 1 solve the position of movement cut cable
Appearance；
Step 3：By the constraint at the pose and branch point of gained cut cable obtain position coordinates at branch point and its
Euler Parameter；
Step 4：Traverse all cut cables being connected with branch point；
Step 5：Whether the cut cable traversed out in judgment step four is son field, if so, solving the position of son field
Appearance, if it is not, going to step three after then solving the pose of trunk section；
Step 6：Whether the cut cable traversed out in judgment step four all solves, if carrying out in next step, if it is not, turning
To step 5；
Step 7：It obtains the pose of all cut cables of multi-way cable and carries out rendering to its form showing.
In an embodiment of the present invention, Fig. 8 gives the topological structure of the multi-way cable net for connecting up emulation, Fig. 9
~11 provide the specific work step during cable distribution.In wiring simulation process about by plane restriction, endpoint constraint and clip
The effect of beam, wherein trunk section T '1、T’2、T’3There are clip constraints at point.Clamping movement endpoint P1, can be in the hope of P1T1Section
Spatial pose, according in branch point T1Constraint, solve T1P2Section and T1T’1The pose of section, wherein T '1T1_P1P2For the first special dictionary
Type multiple-branching construction；Secondly, clamping movement endpoint P3, and the position of input endpoint and Euler Parameter, it can be in the hope of P3T2Section
Appearance, according in branch point T2Constraint, wherein T '2T2_P3T’3For the second quasi-representative multiple-branching construction, T is acquired2T’1Section and T2T’3
Section appearance；Finally, clamping movement endpoint P4, and the position of input endpoint and Euler Parameter, it can be in the hope of P4T3The space bit of section
Appearance, according in branch point T3Constraint, wherein T '3T3_P4P5For the second quasi-representative multiple-branching construction, T is solved3P5Section and T3T’3Section
Pose,.To obtain the multi-way cable net of embodiment form during connecting up assembly simulation.
Above-described is the preferred embodiment of the present invention, it should be pointed out that the ordinary person of the art is come
It says, under the premise of not departing from principle of the present invention, can also make several improvements and retouch, these improvements and modifications should also regard
For protection scope of the present invention.
Claims (6)
1. the Method of Physical Modeling of multi-way cable net, feature include mainly under a kind of virtual environment：
Multi-way cable net is made of multiple cut cables and branch point, and multi-way cable net is characterized by section and center line pose
Geometric shape, tie up type based on the statical model of each cable branch of Cosseart model foundations, and according to bunch of cables
Each branch is established respectively to constrain with connection tangential direction of the trunk at branch point, and the geometry mould of multi-way cable net is established with this
Type and physical model；The cut cable is divided into two classes according to branch's point feature：The both ends of trunk section and son field, trunk section are
One end of branch point, son field is branch point, and the other end is port；The son field of the multi-way cable net is according in branch point
The tangential direction that place is tied up is divided into the constraint of first kind branch and the constraint of the second class branch.
2. Method of Physical Modeling according to claim 1, it is characterised in that the cross-sectional area of the trunk section cable is
The unit cable number that 0.9n~1.1n times of unit cable cross-sectional area, wherein n include by main cable, main cable
Bending stiffness and (0.9n) that torsional rigidity is unit cable2~(1.1n)2Times.
3. Method of Physical Modeling according to claim 1, it is characterised in that the structure of the multi-way cable net according to
Tangential direction constrained type at branch point is divided into following two categories：
1. first kind branch constrains：Son field and trunk section are tangent at branch point there are one only, other son fields are in branch point
Connection tangential direction determined by tying up direction；
2. the second classes of branch constrains：All son fields are tangent with trunk section at branch point.
4. the wiring emulation mode of multi-way cable net under a kind of virtual environment, it is characterized in that assembling interaction behaviour according to various wirings
Make position coordinates, cable system physical model is solved, obtains each son field of cable system and the position and posture of trunk section, mainly
Include the following steps：
Step 1：Input the position coordinates and its Euler Parameter at clamping movement multi-way cable control point；
Step 2：Position coordinates and its Euler Parameter based on the given control point of step 1 solve the pose of movement cut cable；
Step 3：The position coordinates at branch point and its Euler are obtained by the constraint at the pose and branch point of gained cut cable
Parameter；
Step 4：Traverse all cut cables being connected with branch point；
Step 5：Whether the cut cable traversed out in judgment step four is son field, if so, the pose of son field is solved, if
It is no, then it solves and gos to step three after the pose of trunk section；
Step 6：Whether the cut cable traversed out in judgment step four all solves, if carrying out in next step, if it is not, going to step
Rapid five；
Step 7：It obtains the pose of all cut cables of multi-way cable and carries out rendering to its form showing.
5. the wiring emulation mode of multi-way cable net according to claim 4, it is characterised in that cable system physics mould
The method for solving of type mainly includes the following steps that：
Step 1：The position coordinates and its Euler Parameter of input cable section input control point；
Step 2：Judge whether the position of input control point is cut cable endpoint, if so, using endpoint location as arc coordinate s=0's
Position, if it is not, cut cable is segmented with the position of input control point, using the position of input control point as arc coordinate s=0's
Position；
Step 3：Judge that cut cable is constrained with the presence or absence of clip, if so, the position coordinates and its Euler Parameter of input clip, and
Numerical solution is carried out to the pose of input control point to cut cable between clip by least square method, if it is not, passing through minimum two
Multiplication numerical solution cut cable pose；
Step 4：The numerical morphological of last output cable section.
6. wiring emulation mode according to claim 5, it is characterized in that carrying out multi-way cable net physical model numerical value
It is when solution that continuous geometry model is discrete with the progress of each branch, by the center line of discrete multi-way cable net, and pass through difference coefficient
Mode describes Euler Parameter derivative, solves the Euler Parameter of each discrete point of multi-way cable net.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109376432A (en) * | 2018-10-26 | 2019-02-22 | 北京理工大学 | A kind of emulation mode of assembling process, device and emulator |
| CN111310401A (en) * | 2020-01-17 | 2020-06-19 | 大连海事大学 | Digital flexible cable design method |
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