| Abstract |
The talk is aimed at presenting contributions made in the area of
numerical integration methods used to simulate the time evolution of
complex mechanical systems. In a short introduction the concept of virtual
prototyping will be discussed, and the practical need answered by
mechanical system simulation positioned within the virtual prototyping
landscape. The first part of the talk will focus on an implicit
integration method developed and implemented over the last year for the
simulation of stiff mechanical systems. The method is based on the Hilbert
Hughes-Taylor formula, and it led to significant efficiency gains in ADAMS
-- a commercial simulation package widely used in industry. The talk will
conclude with a discussion of aspects related to explicit integration
within the framework of multibody dynamics simulation. In the context of
generic IVP explicit integration, the main task is efficient
function-evaluation, which for mechanical system simulation translates
into acceleration computation. To this end, a multi-threaded approach will
be presented and the discussion will focus on (a) a topology based
iterative solver employed to compute the associated Lagrange multipliers
(reaction forces), and (b) the required preconditioning, which was proved
to require effort linear in the number of constraints present in the
mechanical system.
|
