A parallel simulator for multibody systems based on group equations

Computational kinematics of multibody systems: Two formulations for a modular approach based on natural coordinates

“…Performance: since the subroutine for the kinematic analysis of each SG might be solved with independence from the others, the efficiency of each subroutine can be improved by selecting the most appropiated solver depending on the topology of each SG. Moreover, the efficiency of the whole solution can be improved, depending on the kinematic structure of the MBS by exploiting hybrid parallelism in high performance computers (HPC) as shown in [43].…”

“…Finally, strategies used to formulate and solve the kinematics and dynamics of MBS based on modular decomposition of MBS have also evolved from the basic concept of an Assur group, introduced by Assur at the beginning of the twentieth century, to our days in which the efficiency of this approach has been studied in parallel architectures of high performance computers (HPC) [43]. The topological method based on a modular approach divides a MBS into an ordered set of kinematically determined chains (KDC), known as modules, by applying certain mobility criteria.…”