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1 International Journal of Applied Mechanics and Engineering

1 2010

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Parallel algorithm for constrained multibody system dynamics with many degrees of freedom

Malczyk P., Frączek J.

International Journal of Applied Mechanics and Engineering

2010

Vol. 15, no 3

779-791

This paper presents a parallel formulation for efficient multibody dynamics simulations with many degrees of freedom. The proposed method adopts a divide and conquer scheme and is formulated by using augmented Lagrangian formulation. The algorithm can accommodate situations, in which the Jacobian matrix is rank deficient, which may occur in analysing complex systems with redundant constraints and in singular positions. In addition, the constraint violation errors are kept under control of the user at position, velocity and acceleration levels. The method treats open and closed loop multibody systems in the same manner. Numerical experiments confirmed good performance of the formulation in the case of modest parallel computing resources available, especially for multibody systems with many degrees of freedom. Due to these characteristics the algorithm can be regarded as a tool for efficient dynamics simulations for general multibody systems.