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Parallel simulation dynamics for elastic multibody chains

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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

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