提出加速有限元法，实现实时模拟多接触大变形连续体机器人。
Accelerated Quasi-Static FEM for Real-Time Modeling of Continuum Robots with Multiple Contacts and Large Deformation
- 基于大变形准静态模型与加速求解器，提升多接触仿真效率。
- 在多个接触点下计算速度比传统方法快数倍，精度保持良好。
- 适合需要实时反馈的医疗机器人、柔性操作等场景。
连续体机器人具有高灵活性和多自由度，适用于狭窄腔道内导航。然而，在大变形和频繁环境接触条件下精确建模仍具挑战。现有方法如模型降维与高斯-赛德尔（GS）法随接触点增多导致计算速度显著下降，难以兼顾速度与精度。为此，本文提出一种新型有限元方法——Acc-FEM，采用大变形准静态有限元模型，并集成加速求解方案以高效处理多接触仿真。同时结合图形处理器（GPU）并行计算，实现有限元模型的实时更新与碰撞检测。大量数值实验表明，Acc-FEM在多接触条件下显著提升计算效率，同时保持满意精度，有效弥补了现有方法的不足。
原文摘要 · Abstract (English)
Continuum robots offer high flexibility and multiple degrees of freedom, making them ideal for navigating narrow lumens. However, accurately modeling their behavior under large deformations and frequent environmental contacts remains challenging. Current methods for solving the deformation of these robots, such as the Model Order Reduction and Gauss-Seidel (GS) methods, suffer from significant drawbacks. They experience reduced computational speed as the number of contact points increases and struggle to balance speed with model accuracy. To overcome these limitations, we introduce a novel finite element method (FEM) named Acc-FEM. Acc-FEM employs a large deformation quasi-static finite element model and integrates an accelerated solver scheme to handle multi-contact simulations efficiently. Additionally, it utilizes parallel computing with Graphics Processing Units (GPU) for real-time updates of the finite element models and collision detection. Extensive numerical experiments demonstrate that Acc-FEM significantly improves computational efficiency in modeling continuum robots with multiple contacts while achieving satisfactory accuracy, addressing the deficiencies of existing methods.
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