Author(s)

Leiluo Su, Xinxin Cheng, Hongbo Zhai

Corresponding Author

Leiluo Su

ABSTRACT

"Bench Dragon" is a traditional folk cultural activity in the Zhejiang and Fujian regions. This paper explores the motion tracking and path optimization methods for the multi-body dynamics of the "Bench Dragon" based on differential equation models and simulated annealing algorithms. Firstly, a multi-body motion model under equidistant spiral trajectories is constructed, utilizing polar coordinates to describe the motion path and implementing velocity decomposition and associated velocity iteration to track the motion state. Secondly, a collision detection model based on geometric constraints is proposed to identify potential collision points along the motion trajectory and establish a real-time detection mechanism. Next, the trajectory's minimum spiral pitch is optimized under the constraint of the final position of motion. Subsequently, a model is developed to optimize the turning path with the turning mileage as the objective, solved through the simulated annealing algorithm. Finally, sensitivity analysis is conducted to explore the effects of spiral pitch and bench length on the results, while determining the maximum advancing speed of the dragon head under the condition that each bench does not exceed 2 m/s in speed.

KEYWORDS

Bench Dragon; multi-body motion; path optimization; collision detection; simulated annealing