【摘 要】
：
A unilateral non-penetration constraint dynamical simulation model with friction is constructed based on compliant model for mechanical system VP (virtual proto
【机 构】
：
State Key Laboratory of CAD&CG
【基金项目】
：
教育部博士基金;国家高技术研究发展计划(863计划);国家自然科学基金;国家重点基础研究发展计划(973计划)
论文部分内容阅读
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.
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