Large-scale parallel multibody dynamics with frictional contact on the GPU.
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-Jacobi methods with over-relaxation for symmetric convex linear complementarity problems. Convergent under fairly standard assumptions, the method is implemented in a parallel framework by using a single instruction multiple data computation paradigm promoted by the Compute Unified Device Architecture library for graphical processing unit programming. The framework supports the simulation of problems with more than one 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.
- Research Organization:
- Argonne National Lab. (ANL), Argonne, IL (United States)
- Sponsoring Organization:
- USDOE Office of Science (SC); National Science Foundation (NSF)
- DOE Contract Number:
- DE-AC02-06CH11357
- OSTI ID:
- 1001586
- Report Number(s):
- ANL/MCS/CP-61365; TRN: US201102%%326
- Resource Relation:
- Conference: ASME 2008 Dynamic Systems and Control Conference; Oct. 20, 2008 - Oct. 22, 2008; Ann Arbor, MI
- Country of Publication:
- United States
- Language:
- ENGLISH
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