A parallel partitioning scheme based on physical‐co‐ordinate variables is presented to systematically eliminate system constraint forces and yield the equations of motion of multibody dynamics systems in terms of their independent co‐ordinates. Key features of the present scheme include an explicit determination of the independent co‐ordinates, a parallel construction of the null space matrix of the constraint Jacobian matrix, an easy incorporation of the previously developed two‐stage staggered solution procedure and a Schur complement based parallel preconditioned conjugate gradient numerical algorithm.
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Chiou et al. (1993) studied this question.
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