A NATURAL PARTITIONING SCHEME FOR PARALLEL SIMULATION OF MULTIBODY SYSTEMS

A parallel partitioning scheme based on physical-co-ordinate variables is presented to systematically eliminate system constraint forces and yield the equations of motion of multibody dynamics systems in terms of their independent co-ordinates. Key features of the present scheme include an explicit determination of the independent co-ordinates, a parallel construction of the null space matrix of the constraint Jacobian matrix, an easy incorporation of the previously developed two-stage staggered solution procedure and a Schur complement based parallel preconditioned conjugate gradient numerical algorithm.