An Iterative Approach to Multibody Simulation Dynamics Suitable for Parallel Implementation

[+] Author and Article Information
I. Sharf

University of Victoria, Victoria, British Columbia, Canada V8W 3P6

G. M. T. D’Eleuterio

Institute for Aerospace Studies, University of Toronto, Downsview, Ontario, Canada M3H 5T6

J. Dyn. Sys., Meas., Control 115(4), 730-735 (Dec 01, 1993) (6 pages) doi:10.1115/1.2899206 History: Received December 12, 1989; Revised May 01, 1993; Online March 17, 2008


This paper presents a new solution procedure for simulation dynamics of multibody systems. The method is applicable to open chains with general interbody constraints. It is based on obtaining an explicit solution for the joint constraint forces by means of iterative techniques. We show that the algorithm possesses a parallel structure which matches the topology of the system. Numerical results for an anthropomorphic manipulator indicate that the conjugate-gradient Jacobi iteration is computationally most efficient. An estimate for the parallel efficiency of this scheme is obtained by combining the theoretical bound for parallel complexity with an approximate overhead cost associated with parallel implementation.

Copyright © 1993 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In