Title :
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
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;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126074
