Parallel simulation dynamics for elastic multibody chains

Author

Sharf, I. ; D´Eleuterio, G.M.T.

Author_Institution

Inst. for Aerosp. Studies, Toronto Univ., Downsview, Ont., Canada

fYear

1990

fDate

13-18 May 1990

Firstpage

740

Abstract

A solution procedure is presented for the simulation dynamics of elastic multibody systems specifically designed for parallel processing. The method is applicable to open chains with general (rotational and/or translational) interbody constraints. It is based on obtaining an explicit solution for the joint constraint forces by means of iterative techniques. Numerical results for a three-link anthropomorphic flexible-link manipulator are presented. Comparison of different parallel iterative schemes indicates that the preconditioned conjugate-gradient method is the most computationally efficient method on a series computer. Moreover, its parallel implementation can potentially outperform the recursive method of analysis

Keywords

conjugate gradient methods; distributed parameter systems; elasticity; iterative methods; large-scale systems; parallel algorithms; elastic multibody chains; iterative techniques; joint constraint forces; open chains; parallel processing; preconditioned conjugate-gradient method; rotational interbody constraints; simulation dynamics; three-link anthropomorphic flexible-link manipulator; translational interbody constraints; Aerodynamics; Aerospace simulation; Anthropomorphism; Computational modeling; Concurrent computing; Equations; Kinematics; Manipulator dynamics; Space shuttles; Space stations;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Conference_Location

Cincinnati, OH

Print_ISBN

0-8186-9061-5

Type

conf

DOI

10.1109/ROBOT.1990.126074

Filename

126074