TY - JOUR 
A1 - Bernabé García, Gregorio
AU - Cano Lorente, José Carlos
AU - Cuenca Muñoz, Antonio Javier
AU - Flores Gil, Antonio
AU - Giménez Cánovas, Domingo
AU - Saura Sánchez, Maríano
AU - Segado Cabezos, Pablo
T1 - Exploiting hybrid parallelism in the kinematic analysis of multibody systems based on group equations
Y1 - 2017
SN - 1877-0509
UR - http://hdl.handle.net/10317/8549
AB - Computational kinematics is a fundamental tool for the design, simulation, control, optimization and dynamic analysis of multibody systems. The analysis of complex multibody systems and the need for real time solutions requires the development of kinematic and dynamic formulations that reduces computational cost, the selection and efficient use of the most appropriated solvers and the exploiting of all the computer resources using parallel computing techniques. The topological approach based on group equations and natural coordinates reduces the computation time in comparison with well-known global formulations and enables the use of parallelism techniques which can be applied at different levels: simultaneous solution of equations, use of multithreading routines, or a combination of both. This paper studies and compares these topological formulation and parallel techniques to ascertain which combination performs better in two applications. The first application uses dedicated systems for the real time control of small multibody systems, defined by a few number of equations and small linear systems, so shared-memory parallelism in combination with linear algebra routines is analyzed in a small multicore and in Raspberry Pi. The control of a Stewart platform is used as a case study. The second application studies large multibody systems in which the kinematic analysis must be performed several times during the design of multibody systems. A simulator which allows us to control the formulation, the solver, the parallel techniques and size of the problem has been developed and tested in more powerful computational systems with larger multicores and GPU.
KW - Ingeniería Mecánica
KW - Multibody systems
KW - Group equations
KW - Stewart platform
KW - Hybrid parallelism
KW - 3313 Tecnología E Ingeniería Mecánicas
LA - eng
PB - Elsevier
ER -