Abstract
Abstract The benefits of parallel multibody simulation are demonstrated in this paper. In Part I an extensive analysis of the options available in parallel multibody system simulation is given. As a result of this analysis, implicit integration schemes are proposed for simulation and a modified inverse dynamic formulation is presented, which generates the equations of motion directly, in an implicit differential-algebraic form. In Part II medium-and coarse-grain levels will be exploited for the parallelization of the modified inverse dynamic formulation and the integrator's Jacobian, respectively. Both approaches are implemented on a Transputer network, resulting in the PARSIM-package for parallel multibody simulation. Computational efficiences of the package are demonstrated.
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