multibody dynamics

Large-Scale Parallel Multibody Dynamics with Frictional Contact on the Graphical Processing Unit

  • Mihai Anitescu
  • Dan Negrut
  • Alessandro Tasora
    • Categories Complementarity and Variational Inequalities, Mechanical Engineering, Second-Order Cone Programming Tags , ,

    In the context of simulating the frictional contact dynamics of large systems of rigid bodies, this paper reviews a novel method for solving large cone complementarity problems by means of a fixed-point iteration algorithm. The method is an extension of the Gauss-Seidel and Gauss-Jacobimethods with overrelaxation for symmetric convex linear complementarity problems. Convergent under fairly … Read more

    OPTIMIZATION-BASED SIMULATION OF NONSMOOTH RIGID MULTIBODY DYNAMICS

  • Mihai Anitescu
    • Categories Complementarity and Variational Inequalities, Mechanical Engineering Tags , , , ,

    We present a time-stepping method to simulate rigid multibody dynamics with inelastic collision, contact, and friction. The method progresses with fixed time step without backtracking for collision and solves at every step a strictly convex quadratic program. We prove that a solution sequence of the method converges to the solution of a measure differential inclusion. … Read more