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Wang Zheng
Tan Jianrong
Liu Zhenyu
Ji Yangjian
State Key Laboratory of CAD&CG,
Zhejiang University,
Hangzhou 310027, China |
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MODELING COMPLIANT NON- PENETRATION CONSTRAINT
FOR VP MOTION SIMULATION*
Abstract: A unilateral non-penetration constraint dynamical simulation model with friction is constructed based on compliant model for mechanical system VP (virtual prototyping) simulation. This model combines computer graphics with multi-body system dynamics. It avoids handling multiplicity of solution, such as cases of no solution, multi-solution brought about by friction during traditional construction of non-penetration constraint based on rigid model. At the same time, the realism of VE (virtual environment) is improved in process of simulation. Furthermore, the valid condition of rolling and sliding unilateral contact is constituted based on singular perturbation and linear complementary theory. Finally, the compliant method is verified by an interaction between a multi-legged robot and VE.
Key words:
Non-penetration constraint Compliant model Rigid model Dynamics |