Massively parallel rigid body dynamics simulations

Rigid body dynamics simulations require use of accurate computation of contacts among bodies. Often collision detection algorithms are used for determining the contact between moving bodies. Many mechanical parts have a large number of features and hence collision detection with the detailed part models often slows down the rigid body dynamics simulations. Model simplification techniques developed for efficient graphical rendering may change the part geometry in such a manner that the contact points between parts may change as a result of the simplification. Hence, such simplifications may alter the resulting simulated behavior. In many simulation scenarios, all the parts participating in the simulation are known in advance. In such cases, the simulation context (i.e., a priori knowledge of parts) can be exploited to simplify the part geometries such that the contact points among parts do not change. For example, parts with significant concavities may have regions on their boundaries that will be inaccessible to other parts in the simulation and hence contact points cannot lie on such inaccessible regions. Removing such regions from the parts can simplify the model and hence speed up the simulation for interactive applications.

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Rigid body dynamics approach to Stokesian dynamics simulations of nonspherical particles

The Journal of Chemical Physics ◽

10.1063/1.3358330 ◽

2010 ◽

Vol 132 (17) ◽

pp. 174107 ◽

Cited By ~ 15

Author(s):

Ramzi Kutteh

Keyword(s):

Rigid Body ◽

Rigid Body Dynamics ◽

Nonspherical Particles ◽

Stokesian Dynamics ◽

Body Dynamics ◽

Dynamics Simulations

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Slipping–rolling transitions of a body with two contact points

Nonlinear Dynamics ◽

10.1007/s11071-021-06538-5 ◽

2021 ◽

Author(s):

Mate Antali ◽

Gabor Stepan

Keyword(s):

Rigid Body ◽

Contact Point ◽

Static Friction ◽

Rigid Body Dynamics ◽

Contact Forces ◽

Friction Forces ◽

Contact Points ◽

Body Dynamics ◽

Coulomb Model ◽

Rigid Surfaces

AbstractIn this paper, the general kinematics and dynamics of a rigid body is analysed, which is in contact with two rigid surfaces in the presence of dry friction. Due to the rolling or slipping state at each contact point, four kinematic scenarios occur. In the two-point rolling case, the contact forces are undetermined; consequently, the condition of the static friction forces cannot be checked from the Coulomb model to decide whether two-point rolling is possible. However, this issue can be resolved within the scope of rigid body dynamics by analysing the nonsmooth vector field of the system at the possible transitions between slipping and rolling. Based on the concept of limit directions of codimension-2 discontinuities, a method is presented to determine the conditions when the two-point rolling is realizable without slipping.

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