TRANSPUTER-BASED MULTIBODY SYSTEM, DYNAMIC SIMULATION .2. PARALLEL IMPLEMENTATION - RESULTS

This paper continues demonstration of the benefits of parallel multibo dy simulation. In Part I implicit integration schemes combined with a modified inverse dynamic formulation were proposed for parallel multib ody simulation. In Part II the modified inverse dynamics algorithm and computation of the integrator's Jacobian are split up into independen t work packages for parallelization on medium-and coarse-grain levels, respectively. The farming concept, which organizes the flow of work a nd result packages through a network of processors, is presented. Tran sputers are used to build a distributed memory multiprocessor system, where both the medium- and coarse-grain approaches are implemented, re sulting in the PARSIM-package for parallel multibody dynamics. The sim ulation of an off-road vehicle and a multibody model for a cable demon strate the considerable savings in simulation times achieved by the ne w software package.