Research on State Modeling and Path Optimization of the Folk Activity “Bench Dragon”

Aiming at the modeling of movement states and path optimization for the folk activity “Bench Dragon”, this study proposes a recursive modeling method based on planar geometric analysis and kinematic constraints: First, establish recursive models for handle positions and velocities, then develop a U-turn path length optimization model incorporating collision constraints. After solving motion parameters of handles at each time step through the recursive model, a collision time estimation model is constructed via geometric relationship analysis and coordinate system transformation. The constraints of the model are determined based on path non-intersection, collision avoidance, and non-reverse movement of the dragon head. A multi-search algorithm is designed to achieve precise determination of collision timings. Under the given helix pitch and U-turn space constraints, the approximate shortest U-turn path for the “bench dragon” calculated using a genetic algorithm is 11.7915 meters. Computed results demonstrate that when the optimized path requires the speed of each handle to not exceed 2 m/s, the dragon head speed must be constrained to no more than 0.9670 m/s. This outcome provides a quantitative basis for safety control measures.