Cluster computing of mechanisms dynamics using recursive formulation
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- Malczyk, P. & Frączek, J. Multibody Syst Dyn (2008) 20: 177. doi:10.1007/s11044-008-9115-5
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This paper presents the O(n) recursive algorithm for forward dynamics of closed loop kinematic chains adapted to parallel computations on a cluster of workstations. The Newton–Euler equations of motion are formulated in terms of relative coordinates. Closed loop kinematic chains are transformed into open loop chains by cut joint technique. Cut joint constraint and Lagrange multipliers are introduced to complete the equations of motion. Constraint stabilization is performed using the Baumgarte stabilization technique with application to multibody systems with large number of degrees of freedom. Numerical simulations are carried out to study the influence of the degrees of freedom of the multibody system on computational efficiency of the algorithm using the Message Passing Interface (MPI). We also consider the ways of minimization of communication overhead which has significant impact on efficiency in case of cluster computing.