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Krylov Subspace Methods for Rigid Bodies With Compliant Contact and Cohesion

[+] Author Affiliations
Hammad Mazhar

University of Wisconsin Madison, Madison, WI

Paper No. DETC2013-13634, pp. V07AT10A052; 9 pages
doi:10.1115/DETC2013-13634
From:
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5596-6
  • Copyright © 2013 by ASME

abstract

Using particle based methods to simulate the behavior of compliant material is a complex task. When investigating the behavior of compliant terrain with hundreds of thousands of bodies in contact, millions of unknowns need to be determined. The size of problems solvable using traditional methods such as Jacobi or Gauss Seidel are severely limited due to the poor rate of convergence. This rate of convergence is typical when the equations of motion are posed as a differential variational inequality (DVI) problem that captures contact events between rigid bodies. The methods used for this framework rely on iterative krylov subspace methods such as Conjugate Gradient and Minimum Residual, which show good convergence for large problems. However, this class of iterative algorithms is not generally suitable for solving DVI problems for dynamics simulation. This document will show that these methods, while not specifically designed to solve rigid body dynamics problems, are very capable of doing so and converge very quicky.

Copyright © 2013 by ASME

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