Parallelization of multibody formalism for rigid bodies using natural coordinates and modified state space

The paper deals with the dynamic analysis of multibody systems by parallel computing with the ultimate objective of developing a new methodology enabling a very large number of parallel processors to be used with a good ratio of usage (ratio of CPU time of each processor spent on the solution to the total CPU time required to solve the problem). The approach combines the advantages of natural coordinates and stabilization by adopting a formulation in modified state space.