Dynamics simulation of multibody chains on a transputer system

The paper describes the implementation on a transputer system of a novel parallel algorithm for dynamics simulation of a multibody chain. The algorithm is formulated at a level of parallelism which is natural for the problem but is essentially unavailable to other simulation dynamics algorithms. The experimental results demonstrate that one can improve efficiency of computation by exploiting this level of parallelism. However, analysis of the performance shows that the serial component of the resulting parallel algorithm grows to be a large fraction of the total parallel execution time and therefore limits the speedup that can be achieved with this approach.