Abstract
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.
Similar content being viewed by others
References
ADAMS 2007 r1 MSC Software Online Help (ADAMS/View, ADAMS/Solver)
Arczewski, K., Frączek, J.: Friction models and stress recovery methods in vehicle dynamics modelling. Multibody Syst. Dyn. 14, 205–224 (2005)
Anderson, K.S., Duan, S.: Highly parallelizable low–order dynamics simulation algorithm for multi–rigid–body systems. J. Guid. Control. Dyn. 23(2), 355–364 (2000)
Anderson, K.S., Critchley, J.H.: Improved ‘Order-N’ performance algorithm for the simulation of constrained multi–rigid–body dynamic systems. Multibody Syst. Dyn. 9, 185–225 (2003)
Avello, A., Jimenez, J.M., Bayo, E., Jalon, J.G.: A simple and highly parallelizable method for real-time dynamic simulation based on velocity transformations. Comput. Methods Appl. Mech. Eng. 107, 313–339 (1993)
Bae, D.S., Haug, E.J.: A recursive formulation for constrained mechanical system dynamics. Part I: Open loop systems. Mech. Struct. Mach. 15, 359–382 (1987)
Bae, D.S., Haug, E.J.: A recursive formulation for constrained mechanical system dynamics. Part II: Closed loop systems. Mech. Struct. Mach. 15, 481–506 (1987)
Bae, D.S., Kuhl, J.G., Haug, E.J.: A recursive formulation for constrained mechanical system dynamics. Part III: Parallel processor implementation. Mech. Struct. Mach. 16, 249–269 (1988)
Baumgarte, J.: Stabilization of constraints and integrals of motion in dynamical systems. Comput. Methods Appl. Mech. Eng. 1, 1–16 (1972)
Bayo, E., de Jalon, J.G., Serna, M.A.: A modified Lagrangian formulation for the dynamic analysis of constrained mechanical systems. Comput. Methods Appl. Mech. Eng. 71, 183–195 (1988)
Brenan, K.E., Campbell, S.L., Petzold, L.R.: Numerical Solution of Initial–Value Problems in DAE. SIAM, Philadelphia (1989)
Chung, S., Haug, E.J.: Real-time simulation of multibody dynamics on shared memory multiprocessors. J. Dyn. Syst. Meas. Control 115, 627–637 (1993)
Critchley, J.H., Anderson, K.S.: A parallel logarithmic order algorithm for general multibody system dynamics. Multibody Syst. Dyn. 12, 75–93 (2004)
Critchley, J.H., Anderson, K.S.: A generalized recursive coordinate reduction method for multibody system dynamics. Int. J. Multiscale Comput. Eng. 1, 181–200 (2000)
Critchley, J.H., Binani, A., Anderson, K.S.: Design and implementation of an efficient multibody divide and conquer algorithm. In: Proceedings of the ASME 2007 International Design Engineering Technical Conferences, Las Vegas, Nevada, USA (2007)
Cuadrado, J., Cardenal, J., Morer, P., Bayo, E.: Intelligent simulation of multibody dynamics: space–state and descriptor methods in sequential and parallel computing environments. Multibody Syst. Dyn. 4, 55–73 (2000)
Duan, S., Anderson, K.S.: Parallel implementation of a low order algorithm for dynamics of multibody systems on a distributed memory computing system. Eng. Comput. 16, 96–108 (2000)
Eichberger, A.: Transputer-based multibody system dynamic simulation. Part I: The residual algorithm—a modified inverse dynamic formulation. Mech. Struct. Mach. 22(2), 211–237 (1994)
Eichberger, A.: Transputer-based multibody system dynamic simulation. Part II: Parallel implementation—results. Mech. Struct. Mach. 22(2), 239–261 (1994)
Featherstone, R.: The calculation of robot dynamics using articulated-body inertias. Int. J. Rob. Res. 2, 13–30 (1983)
Featherstone, R.: Robot Dynamics Algorithms. Kluwer Academic, Dordrecht (1987)
Featherstone, R.: A divide-and-conquer articulated body algorithm for parallel O(log (n)) calculation of rigid body dynamics. Part 1: Basic algorithm. Int. J. Rob. Res. 18, 867–875 (1999)
Featherstone, R.: A divide-and-conquer articulated body algorithm for parallel O(log (n)) calculation of rigid body dynamics. Part 2: Trees, loops, and accuracy. Int. J. Rob. Res. 18, 876–892 (1999)
Featherstone, R., Fijany, A.: A technique for analyzing constrained rigid–body systems, and its application to the constraint force algorithm. IEEE Trans. Rob. Autom. 15(6), 1140–1144 (1999)
Fijany, A., Bejczy, A.K.: Techniques for parallel computation of mechanical manipulator dynamics. Part II: Forward dynamics. Control Dyn. Syst. 40, 357–410 (1991)
Fijany, A., Sharf, I., D’Eleuterio, G.M.T.: Parallel O(log N) algorithms for computation of manipulator forward dynamics. IEEE Trans. Rob. Autom. 11, 389–400 (1995)
Fisette, P., Peterkenne, J.M.: Contribution to parallel and vector computation in multibody dynamics. Parallel Comput. 24, 717–728 (1998)
Grama, A., Gupta, A., Karypis, G., Kumar, V.: Introduction to Parallel Computing. Addison Wesley, Reading (2003)
Golub, G.H., Van Loan, C.F.: Matrix Computations. North Oxford Academic, London (1986)
Guide to the SLATEC Common Mathematical Library, http://www.netlib.org/slatec
Haug, E.J.: Computer Aided Kinematics and Dynamics of Mechanical Systems. Allyn and Bacon, Needham Heights (1989)
Hwang, R.S., Bae, D.S., Kuhl, J.G., Haug, E.J.: Parallel processing for real-time dynamic system simulation. J. Mech. Des. 112, 520–528 (1990)
Jain, A.: Unified formulation of dynamics for serial rigid multibody systems. J. Guid. Control Dyn. 14, 531–542 (1991)
Kasahara, H., Fujii, H., Iwata, M.: Parallel processing of robot motion simulation. In: Proceedings IFAC World Congress, Munich (1987)
Kane, T.R., Levinson, D.A.: Dynamics: Theory and Application. McGraw-Hill, New York (1985)
Lathrop, R.: Parallelism in manipulator dynamics. Technical Report 754, MIT Artificial Intelligence Laboratory (1984)
Lee, C.S.G., Chang, P.R.: Efficient parallel algorithms for robot forward dynamics computation. IEEE Trans. Syst. Man Cybern. 18, 238–251 (1988)
Malczyk, P., Frączek, J.: Cluster computing of mechanisms dynamics using recursive formulation. In: Proceedings of the 12th World Congress in Mechanism and Machine Science, IFToMM 2007, Besancon, France (2007)
Saha, K.S., Schiehlen, W.: Recursive kinematics and dynamics for parallel structured closed-loop multibody systems. Mech. Struct. Mach. 29(2), 143–175 (2001)
Snir, M., Otto, S., Huss-Lederman, S., Walker, D., Dongarra, J.: MPI: The Complete Reference. MIT Press, Cambridge (1986)
Stejskal, V., Valasek, M.: Kinematics and Dynamics of Machinery. Dekker, New York (1996)
Walker, M.W., Orin, D.E.: Efficient dynamic computer simulation of robotic mechanisms. ASME J. Dyn. Syst. Meas. Control 104(3), 205–211 (1982)
Wojtyra, M., Frączek, J.: Redundant constraints reactions in rigid MBS with coulomb friction in joints. In: Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics 2007, Milano, Italy (2007)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Malczyk, P., Frączek, J. Cluster computing of mechanisms dynamics using recursive formulation. Multibody Syst Dyn 20, 177–196 (2008). https://doi.org/10.1007/s11044-008-9115-5
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11044-008-9115-5