Fast Simulation of Quasistatic Rod Deformations for VR Applications

J. Linn, T. Stephan, J. Carlsson, R. Bohlin, Progress in Industrial Mathematics at ECMI 2006, 12, 247-253.


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.

Authors and Affiliations

  • J. Linn, Fraunhofer ITWM, Kaiserslautern
  • T. Stephan, Fraunhofer ITWM, Kaiserslautern
  • J. S. Carlsson, Fraunhofer–Chalmers Research Center FCC, Göteborg
  • R. Bohlin, Fraunhofer–Chalmers Research Center FCC, Göteborg

Photo credits: Nic McPhee