This paper proposes an iterative method that can simulate mechanical systems featuring a large number of contacts and joints between rigid bodies. The numerical method behaves as a contractive mapping that converges to the solution of a cone complementarity problem by means of iterated fixed-point steps with separable projections onto convex manifolds. Since computational speed and robustness are important issues when dealing with a large number of frictional contacts, we have performed special algorithmic optimizations in order to translate the numerical scheme into a matrix-free algorithm with O(n) space complexity and easy implementation. A modified version, that can run on parallel computers is discussed. A multithreaded version of the method has been used to simulate systems with more than a million contacts with friction.
A matrix-free cone complementarity approach for solving large-scale, nonsmooth, rigid body dynamics / Tasora, Alessandro; Anitescu, Mihai. - In: COMPUTER METHODS IN APPLIED MECHANICS AND ENGINEERING. - ISSN 0045-7825. - 200:(2011), pp. 439-453. [10.1016/j.cma.2010.06.030]
A matrix-free cone complementarity approach for solving large-scale, nonsmooth, rigid body dynamics
TASORA, Alessandro;
2011-01-01
Abstract
This paper proposes an iterative method that can simulate mechanical systems featuring a large number of contacts and joints between rigid bodies. The numerical method behaves as a contractive mapping that converges to the solution of a cone complementarity problem by means of iterated fixed-point steps with separable projections onto convex manifolds. Since computational speed and robustness are important issues when dealing with a large number of frictional contacts, we have performed special algorithmic optimizations in order to translate the numerical scheme into a matrix-free algorithm with O(n) space complexity and easy implementation. A modified version, that can run on parallel computers is discussed. A multithreaded version of the method has been used to simulate systems with more than a million contacts with friction.File | Dimensione | Formato | |
---|---|---|---|
CMAME_Matrixless_2011.pdf
solo utenti autorizzati
Tipologia:
Versione (PDF) editoriale
Licenza:
NON PUBBLICO - Accesso privato/ristretto
Dimensione
1.47 MB
Formato
Adobe PDF
|
1.47 MB | Adobe PDF | Visualizza/Apri Richiedi una copia |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.