Large-scale parallel multi-body dynamics with frictional contact on the graphical processing unit

Tasora, Alessandro; Negrut, Dan; Anitescu, Mihai

doi:10.1243/14644193jmbd154

Cited by 36 publications

(55 citation statements)

References 32 publications

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“…Another drawback of the regularized approach is that the difficulty to chosen the contact parameters such as the equivalent stiffness or the degree of nonlinearity of the deformation, especially for complex contact scenarios [33]. An alternative way to treat the contact-impact problems in multibody systems is to use the non-smooth dynamics approach, namely the Linear Complementary Problem (LCP) [34,35] and Differential Variational Inequality (DVI) [36,37]. The complementarity formulations associated with the Moreau's time-stepping algorithm for contact modeling in multibody systems have used by many researchers [38][39][40].…”

Section: Introductionmentioning

confidence: 99%

“…However, the algorithmic procedures that results from DVI approach is of great complexity. This formalism has been used with success by Tasora et al [37] to model and analyze multibody systems involving hundreds of thousand contacts. The DVI approaches are also interesting in the measure that they can easily deal with friction problems without need to modify Coulomb's friction law.…”

Section: Introductionmentioning

confidence: 99%

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A parametric study on the dynamic response of planar multibody systems with multiple clearance joints

2010

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A general methodology for dynamic modeling and analysis of multibody systems with multiple clearance joints is presented and discussed in this paper. The joint components that constitute a real joint are modeled as colliding bodies, being their behavior influenced by geometric and physical properties of the contacting surfaces. A continuous contact force model, based on the elastic Hertz theory together with a dissipative term, is used to evaluate the intra-joint contact forces. Furthermore, the incorporation of the friction phenomenon, based on the classical Coulomb's friction law, is also discussed. The suitable contact-impact force models are embedded into the dynamics of multibody systems methodologies. An elementary mechanical system is used to demonstrate the accuracy and efficiency of the presented approach, and to discuss the main assumptions and procedures adopted. Different test scenarios are considered with the purpose of performing a parametric study for quantifying the influence of the clearance size, input crank speed and number of clearance joints on the dynamic response of multibody systems with multiple clearance joints. Additionally, the total computation time consumed in each simulation is evaluated in order to test the computational accuracy and efficiency of the presented approach. From the main results obtained in this study, it can be drawn that clearance size and the operating conditions play a crucial role in predicting accurately the dynamic responses of multibody systems.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A parametric study on the dynamic response of planar multibody systems with multiple clearance joints

2010

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“…The method has been recently ported also on parallel stream-kernel GPU hardware, obtaining a remarkable computational efficiency [44].…”

Section: Discussionmentioning

confidence: 99%

“…Previous sections showed that generic multibody problems with frictional contacts, expressed with the system (15)- (19), embed the cone complementarity problem (42), which can be solved by the iterative method (44).…”

Section: Methodsmentioning

confidence: 99%

A matrix-free cone complementarity approach for solving large-scale, nonsmooth, rigid body dynamics

Tasora

Anitescu

2011

Computer Methods in Applied Mechanics and Engineering

109

100

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This paper proposes an iterative method that can simulate mechanical systems featuring a large number of contacts and joints between rigid bodies. The numerical method behaves as a contractive mapping that converges to the solution of a cone complementarity problem by means of iterated fixed-point steps with separable projections onto convex manifolds. Since computational speed and robustness are important issues when dealing with a large number of frictional contacts, we have performed special algorithmic optimizations in order to translate the numerical scheme into a matrix-free algorithm with O(n) space complexity and easy implementation. A modified version, that can run on parallel computers is discussed. A multithreaded version of the method has been used to simulate systems with more than a million contacts with friction.

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“…Since separation or gap between material points in an ensemble has traditionally been used to describe the various action potentials, the mechanism of contact is often used to trigger simple interactions for a large number of material points. Newton-Euler method lends itself well to representation of such systems, thus as presented in references [14], [27], and [28] M q dq dt = F q,q + f q (13) where M q is the inertial matrix, F q,q is the vector of generalized forces such as coriolis, centripedal, and generalized smooth contact forces (e.g. viscous and Stribeck effects), and f q is the sum of friction components of generalized contact forces.…”

Section: Many-body Systemsmentioning

confidence: 99%

From multi-body to many-body dynamics

Theodossiades

Teodorescu

Rahnejat

2009

Proceedings of the Institution of Mechanical Engineers, Part C:

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This article provides a brief historical review of multi-body dynamics analysis, initiated by the Newtonian axioms through constrained (removed degrees of freedom) Lagrangian dynamics or restrained (resisted degrees of freedom) Newton-Euler formulation. It provides a generic formulation method, based on system dynamics in a reduced configuration space, which encompasses both the aforementioned methods and is applicable to any cluster of material points. A detailed example is provided to show the integration of other physical phenomena such as flexibility and acoustic wave propagation into multi-body dynamics analysis. It is shown that in the scale of minutiae, when the action potentials deviate from Newtonian laws, the forces are often described by empirical or stochastic functions of separation and the medium of interactions. These make for complex analyses and distinguish a host of many body problems from Newtonian laws of motion. A simple example is provided to demonstrate this. It is suggested that unification of many-body analysis with that of multi-body dynamics is incumbent on the fundamental understanding of interaction potentials at close separations.

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Large-scale parallel multi-body dynamics with frictional contact on the graphical processing unit

Cited by 36 publications

References 32 publications

A parametric study on the dynamic response of planar multibody systems with multiple clearance joints

A parametric study on the dynamic response of planar multibody systems with multiple clearance joints

A matrix-free cone complementarity approach for solving large-scale, nonsmooth, rigid body dynamics

From multi-body to many-body dynamics

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