TY  - BOOK
AU  - Sunil
AU  - Shah, Suril V.
TI  - DeNOC based Parallel Dynamics Algorithms for Multibody Systems
U1  - 531.113 
PY  - 2018///
CY  - IIT Jodhpur
PB  - Department of Mechanical Engineering
KW  - Parallel Dynamics Algorithms
KW  - MTech Theses
KW  - Department of Mechanical Engineering
N2  - Multibody system is the combination of bodies interconnected by joints which allow constrainedmotion. Such systems are governed by the mathematical model which relates the governing forces to themotion of the system. This dynamic model also known as dynamic Equations of Motion (EOM) is usedto simulate the dynamic behaviour of the system in the virtual environment. The dynamics problem ofsuch system is broadly divided into Inverse and Forward dynamics. The time complexity of the existingsequential inverse and forward dynamics algorithms isO(n). The evolution of high performance computingresources instils the need to redesign these algorithms for parallel architecture to reduce the computationorder. This work presents parallel paradigm in dynamics by mathematical reformulation of inverse andforward dynamics using Decoupled Natural Orthogonal Complement (DeNOC) matrices.In this work, Inverse and Forward dynamics usingDeNOCmatrices is redesigned for parallel pro-cessing systems. Mathematical formulation of recursive inverse and forward dynamics is modified usingrecursive doubling technique and based on recursive parallel paradigm, Parallel inverse and forward dy-namics algorithm is presented. The proposed parallel algorithms are implemented for serial chains on HighPerformance Computing (HPC) cluster using available parallel interfaces like Message Passing Interface(MPI). The results are validated using Recursive Dynamics Simulator (ReDySim) and the numerical accu-racy, stability and efficiency of the algorithm is also compared with existing algorithm

ER  -