We present a model of flexible rods — based on Kirchhoff's geometrically exact theory — which is suitable for the fast simulation of quasistatic deformations within VR or functional DMU applications. Unlike simple models of “mass & spring” type typically used in VR applications, our model provides a proper coupling of bending and torsion. The computational approach comprises a variational formulation combined with a finite difference discretization of the continuum model. Approximate solutions of the equilibrium equations for sequentially varying boundary conditions are obtained by means of energy minimization using a nonlinear CG method. The computational performance of our model proves to be sufficient for the interactive manipulation of flexible cables in assembly simulation.
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Linn, J., Stephan, T., Carlsson, J., Bohlin, R. (2008). Fast Simulation of Quasistatic Rod Deformations for VR Applications. In: Bonilla, L.L., Moscoso, M., Platero, G., Vega, J.M. (eds) Progress in Industrial Mathematics at ECMI 2006. Mathematics in Industry, vol 12. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-71992-2_28
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DOI: https://doi.org/10.1007/978-3-540-71992-2_28
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