Simulation modeling and optimization study of bench dragon movement

This study proposes an enhanced kinematic model integrating 3D motion characteristics for a 223-segment Bench Dragon team. A polar-coordinate chain model is developed, combining spiral differential equations and iterative coordinate computation via the circular intersection method. The introduction of 3D rotational degrees of freedom ((pitch/roll angles \({{\rm{\alpha }}}_{\rm{i}}/{{\rm{\beta }}}_{\rm{i}}\)) and a spring-damper model (k=500 N/m) mitigates velocity anomalies under rigid-body assumptions, reducing tail velocity peaks from 441.24 m/s to 5.2 m/s. A high-precision collision detection framework using 3D convex hulls and the Bullet physics engine lowers false positives by 85.4% (12.3%→1.8%) and revises the initial collision time to 418.75 s. Experimental validation shows root mean square errors of 0.21 m and 0.18 m/s. Optimization results confirm a minimum pitch \({p}_{min} = 0.42m\) for safe turning in 9 m-diameter zones, with S-shaped dual-arc paths fixed at 13.624 m and a maximum safe leading speed of 1.347 m/s.