A matrix-free cone complementarity approach for solving large-scale nonsmooth, rigid body dynamics.
- 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 Lab. (ANL), Argonne, IL (United States)
- Sponsoring Organization:
- USDOE Office of Science (SC)
- DOE Contract Number:
- DE-AC02-06CH11357
- OSTI ID:
- 1035452
- Report Number(s):
- ANL/MCS/JA-66082; CMMECC; TRN: US201204%%623
- Journal Information:
- Computer Methods in Applied Mechanics and Engineering, Vol. 200, Issue 5-8; ISSN 0045-7825
- Country of Publication:
- United States
- Language:
- ENGLISH
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