In this paper, a new hybrid parallelizable algorithm involving formulations of different computational orders is presented for chain systems. The parallel system model is constructed through the separation of certain system interbody joints so that largely independent multibody subchain systems are formed. These sub-chains in turn interact with one another through associated unknown constrain forces fc¯ at those separated joints. Within each of the floating subchains, equations of motion for the system of bodies are produced using a recursive state space O(n) formulation, while the equations associated specifically with the floating “composite” base body are formed using a more tradition O(n3) approach. Parallel strategies are used to form and solve constraint equations between subchains concurrently. 41% computational savings can be achieved for the floating base body motion description by using O(n3) approach relative to using sequential O(n) procedure.

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