关键词: 线缆装配, 碰撞检测, 距离场, 球面调和函数, 扫掠剪除算法

Abstract: For the problem of collision detection difficulty caused by the cable harness with flexible and deformable characteristics, a collision detection method of cable harness based on distance fields and sweep-and-prune（SaP） algorithm is proposed. The collision detection method based on distance fields is mainly used for detect the collisions among cable harnesses as well as cable harnesses and structural parts. In this phase, the spherical harmonics expression of cable harness with Level Of Detail（LOD） is finished firstly based on the establishment of contour bounding sphere for cable harness; then, to acquire the collision feedback information from the surface normal vector and puncture depth of cable harness or structural parts, a distance fields mapping with three dimensions（3D） is generated. The collision detection method based on SaP algorithm is mainly used for detect the cable harness self-collision. In this phase, a mathematical model of cable harness segments is constructed firstly; and then the discrete points SaP algorithm is used to complete the cable harness self-collision. Finally, the algorithm presented in this paper is validated, and the results show that the algorithm has better accuracy and quickness to meet the requirements of engineering practice.

Key words: cable harness assembly, collision detection, distance fields, spherical harmonics, sweep-and-prune algorithm