Cart (Loading....) | Create Account
Close category search window
 

Parallel simulation dynamics for elastic multibody chains

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Sharf, I. ; Dept. of Mech. Eng., Victoria Univ., BC, Canada ; D'Eleuterio, G.M.T.

A solution procedure for simulation dynamics of elastic multibody systems specifically designed for parallel processing is presented. 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. The simulated comparison, on a serial computer, of different parallel iterative schemes indicates that the preconditioned conjugate-gradient methods are computationally most efficient. Moreover, their parallel implementation yields computational complexity that, based on theoretical estimates, is approximately constant with the number of bodies in the chain

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:8 ,  Issue: 5 )

Date of Publication:

Oct 1992

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.