A Recursive Formulation for Constrained Mechanical System Dynamics: Part III. Parallel Processor Implementation

ABSTRACT A high speed dynamic simulation algorithm that exploits emerging parallel processor computer technology is presented. Medium grain parallelism is defined by the graph structure of a mechanism and the recursive algorithm derived in parts I and II of this paper, for both open and closed loop systems. An off-road vehicle with a suspension system that has eight closed loops is used to illustrate the parallel processor algorithm. A shared memory multiprocessor is used to implement the algorithm and to investigate parallel processing speed-up and overhead. Real-time simulation of a ground vehicle is demonstrated.