Journal
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS
Volume 222, Issue 4, Pages 315-326Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1243/14644193JMBD154
Keywords
graphical processing unit programming; parallel multi-body dynamics; frictional contact simulation; complementarity-based model
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Funding
- National Science Foundation [CMMI-0700191]
- US Department of Energy [DE-AC02-06CH11357]
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In the context of simulating the frictional contact dynamics of large systems of rigid bodies, this paper reviews a novel method for solving large cone complementarity problems by means of a fixed-point iteration algorithm. The method is an extension of the Gauss-Seidel and Gauss-Jacobi methods with over-relaxation for symmetric convex linear complementarity problems. Convergent under fairly standard assumptions, the method is implemented in a parallel framework by using a single instruction multiple data Computation paradigm promoted by the Compute Unified Device Architecture library for graphical processing unit programming. The framework Supports the simulation of problems with more than one million bodies in contact. Simulation thus becomes a viable tool for investigating the dynamics of complex systems such as ground vehicles running on sand, powder composites, and granular material flow.
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