Exploiting hybrid parallelism in the kinematic analysis of multibody systems based on group equations
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Bernabé García, Gregorio; Cano Lorente, José Carlos; Cuenca Muñoz, Antonio Javier; Flores Gil, Antonio; Giménez Cánovas, Domingo; [et al.]Knowledge Area
Ingeniería MecánicaSponsors
This work was supported by the Spanish MINECO, as well as European Commission FEDER funds, under grant TIN2015-66972-C5-3-RPublication date
2017Publisher
ElsevierBibliographic Citation
Bernabé, G., Cano, J.-C., Cuenca, J., Flores, A., Giménez, D., Saura-Sánchez, M., & Segado-Cabezos, P. (2017). Exploiting Hybrid Parallelism in the Kinematic Analysis of Multibody Systems Based on Group Equations. Procedia Computer Science, 108, 576–585. doi:10.1016/j.procs.2017.05.041Keywords
Multibody systemsGroup equations
Stewart platform
Hybrid parallelism
Abstract
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 ...
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