Dynamic Simulation of Multibody Systems Using a New State-Time Methodology

This paper presents a new methodology demonstrating the feasibility and advantages of a state-time formulation for dynamic simulation of complex multibody systems which shows potential advantages for exploiting massively parallel computing resources. This formulation allows time to be discretized and parameterized so that it can be treated as a variable in a manner similar to the system state variables. As a consequence of such a state-time discretization scheme, the system of governing equations yields to a set of loosely coupled linear-quadratic algebraic equations that is well-suited in structure for some families of nonlinear algebraic equations solvers. The goal of this work is to develop efficient multibody dynamics algorithm that is extremely scalable and better able to fully exploit anticipated immensely parallel computing machines (tera flop, peta flop and beyond) made available to it.