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

Alessandro Tasora(tasora***at***ied.unipr.it)
Dan Negrut(negrut***at***wisc.edu)
mihai anitescu(anitescu***at***mcs.anl.gov)

Abstract: 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 standard assumptions, the method is implemented in a parallel framework by using a single instructionmultiple data computation paradigmpromoted by the Compute Unified Device Architecture library for graphical processing unit programming. The framework supports the simulation of problems with more than 1 million bodies in contact. Simulation thus becomes a viable tool for investigating the dynamics of complex systems such as ground vehicles running on sand, powder composites, and granular material flow.

Keywords: Multibody dynamics, frictional contact simulation, complementarity-based model

Category 1: Applications -- Science and Engineering (Mechanical Engineering )

Category 2: Complementarity and Variational Inequalities

Category 3: Linear, Cone and Semidefinite Programming (Second-Order Cone Programming )

Citation: Technical Report ANL/MCS-P1494-0508 May, 2008. Argonne National Laboratory Mathematics and Computer Science Division 9700 S. Cass Avenue Argonne, IL 60439 USA

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Entry Submitted: 05/20/2008
Entry Accepted: 05/20/2008
Entry Last Modified: 05/20/2008

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