A matrix-free cone complementarity approach for solving large-scale nonsmooth, rigid body dynamics.

Journal Article · Sat Jan 01 04:00:00 EST 2011 · Computer Methods in Applied Mechanics and Engineering

DOI:https://doi.org/10.1016/j.cma.2010.06.030· OSTI ID:1035452

Tasora, A; Anitescu, M ^[1]

---

1. Mathematics and Computer Science

This paper proposes an iterative method that can simulate mechanical systems featuring a large number of contacts and joints between rigid bodies. The numerical method behaves as a contractive mapping that converges to the solution of a cone complementarity problem by means of iterated fixed-point steps with separable projections onto convex manifolds. Since computational speed and robustness are important issues when dealing with a large number of frictional contacts, we have performed special algorithmic optimizations in order to translate the numerical scheme into a matrix-free algorithm with O(n) space complexity and easy implementation. A modified version, that can run on parallel computers is discussed. A multithreaded version of the method has been used to simulate systems with more than a million contacts with friction.

• Research Organization: Argonne National Laboratory (ANL)
• Sponsoring Organization: SC
• DOE Contract Number: AC02-06CH11357
• OSTI ID: 1035452
• Report Number(s): ANL/MCS/JA-66082
• Journal Information: Computer Methods in Applied Mechanics and Engineering, Journal Name: Computer Methods in Applied Mechanics and Engineering Journal Issue: 5-8 Vol. 200; ISSN 0045-7825; ISSN CMMECC
• Country of Publication: United States
• Language: ENGLISH

Related Subjects

99 GENERAL AND MISCELLANEOUS
ALGORITHMS
COMPUTERS
CONES
CONVEX MANIFOLDS
FRICTION
IMPLEMENTATION
ITERATIVE METHODS
VELOCITY