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Gain in computational efficiency by vectorization in the dynamic simulation of multi-body systemsAn improved technique for the identification and extraction of the exact quantities associated with the degrees of freedom at the element as well as the flexible body level is presented. It is implemented in the dynamic equations of motions based on the recursive formulation of Kane et al. (1987) and presented in a matrix form, integrating the concepts of strain energy, the finite-element approach, modal analysis, and reduction of equations. This technique eliminates the CPU intensive matrix multiplication operations in the code's hot spots for the dynamic simulation of the interconnected rigid and flexible bodies. A study of a simple robot with flexible links is presented by comparing the execution times on a scalar machine and a vector-processor with and without vector options. Performance figures demonstrating the substantial gains achieved by the technique are plotted.
Document ID
19910065082
Document Type
Conference Paper
Authors
Amirouche, F. M. L. (Illinois Univ. Chicago, IL, United States)
Shareef, N. H. (Illinois, University Chicago, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1991
Subject Category
CYBERNETICS
Report/Patent Number
AIAA PAPER 91-2748
Meeting Information
AIAA Guidance, Navigation and Control Conference(New Orleans, LA)
Funding Number(s)
CONTRACT_GRANT: NAG3-1092
Distribution Limits
Public
Copyright
Other