Real-Time Multibody System Dynamic Simulation: Part II. A Parallel Algorithm and Numerical Results

ABSTRACT

This paper presents a computational algorithm that exploits inherent parallelism in the modified recursive formulation presented in Part I of the paper. Computational data flows to implement the algorithm are defined. By combining the topological analysis method presented in Part 1 of the paper, an efficient general purpose dynamic simulation algorithm is developed. Examples using the code developed show that real-time simulation can be achieved for moderately complex mechanical systems using a shared memory multiprocessor.