A Parallel Variational Integrator for Simulating Dynamics of Large-Scale Geometrically Exact Beam Systems on SE(3)

An efficient MPI-based parallel algorithm that preserves geometric structure is proposed, utilizing the field theory variational integrator (FTVI). The FTVI employs space-time finite elements for geometrically exact beams formulated on the Lie group SE(3), and the formulation has been validated to be naturally free of shear locking. Simulation results demonstrate that the FTVI offers good numerical convergence, and excellent long-term energy behavior. To further improve computational efficiency for large-scale simulations, an MPI (message passing interface)-based FTVI parallel algorithm is developed, utilizing the domain decomposition technique. Finally, a flexible cable net system with tens of thousands of degrees of freedom is given to validate the proposed MPI-based FTVI parallel algorithm, which includes reduced computational complexity, enhanced effectiveness and energy conservation.