An efficient direct differentiation approach for sensitivity analysis of flexible multibody systems

Kishor D. Bhalerao, Mohammad Poursina, Kurt S. Anderson

Research output: Contribution to journalArticle

42 Citations (Scopus)

Abstract

This paper presents a recursive direct differentiation method for sensitivity analysis of flexible multibody systems. Large rotations and translations in the system are modeled as rigid body degrees of freedom while the deformation field within each body is approximated by superposition of modal shape functions. The equations of motion for the flexible members are differentiated at body level and the sensitivity information is generated via a recursive divide and conquer scheme. The number of differentiations required in this method is minimal. The method works concurrently with the forward dynamics simulation of the system and requires minimum data storage. The use of divide and conquer framework makes the method linear and logarithmic in complexity for serial and parallel implementation, respectively, and ideally suited for general topologies. The method is applied to a flexible two arm robotic manipulator to calculate sensitivity information and the results are compared with the finite difference approach.

Original languageEnglish (US)
Pages (from-to)121-140
Number of pages20
JournalMultibody System Dynamics
Volume23
Issue number2
DOIs
StatePublished - Feb 2010
Externally publishedYes

Fingerprint

Flexible multibody Systems
Robotic arms
Degrees of freedom (mechanics)
Sensitivity analysis
Manipulators
Equations of motion
Sensitivity Analysis
Computer systems
Topology
Data storage equipment
Computer simulation
Divide and conquer
Robotic Manipulator
Data Storage
Shape Function
Parallel Implementation
Rigid Body
Dynamic Simulation
Superposition
Equations of Motion

Keywords

  • Direct differentiation
  • Divide and conquer scheme
  • Flexible multibody systems
  • Sensitivity analysis

ASJC Scopus subject areas

  • Mechanical Engineering
  • Aerospace Engineering
  • Computer Science Applications
  • Control and Optimization
  • Modeling and Simulation

Cite this

An efficient direct differentiation approach for sensitivity analysis of flexible multibody systems. / Bhalerao, Kishor D.; Poursina, Mohammad; Anderson, Kurt S.

In: Multibody System Dynamics, Vol. 23, No. 2, 02.2010, p. 121-140.

Research output: Contribution to journalArticle

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