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中文摘要：
针对具有简单孔洞的柔性体提出了一种基于框架结构的力／触觉变形模型。此模型以外力接触端为公共端，根据内部孔的位置和形状构建框架。整体框架由一个或多个钢架组成，每根钢架可为单杆件或多杆件结构。当外力作用时，运用虚功原理和Bernoulli-Euler定理求得钢架节点和虚拟固定端的变形位移，从而得到框架的变形，通过框架变形插值求解柔性体全局变形。实验结果表明，该模型方法简单，实时性好，在具体的虚拟建模力反馈工作中可操作性强。
英文摘要：
This paper introduces a frame-skeleton model for deformable objects with simple holes. The model uses the rigid jointed frame to construct the skeleton with a common end as the contact point. Anchor points are distributed based on the geometry characteristics of the deformable object in the inner or outer surface as the rigid joints or fixed ends of the frames. And the anchor points are linked with each other based on their positions and the shape of the holes. The deflec- tions of the anchor points can be computed using the virtual work principle and the Bemoulli-Euler bending beam theory. And the deflections can be used to calculate the global deformation of the elastic object by the linear interpolation method. All the simulations can be performed in a combined update rate, and the experiments on several examples prove the model＇ s advantages of simplicity and real-time, easy operation.
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