Method for the Distributed Simulation of Multibodies

In this paper, we propose the modular development of the direct violation correction method for the distributed computation of the forward dynamics simulations of constrained mechanical systems. We exploit the natural spatial parallelism of closed-chain linkages, initially, for the modular development of overall dynamics and subsequently, for the distributed numerical simulation of the dynamics. The technique could be implemented for various systems of connected bodies with variable number degrees of freedom such as systems with coulomb frictions. A numerical example is provided to demonstrate the effectiveness and stability of this method.