Logarithmic complexity sensitivity analysis of flexible multibody systems

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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)
Title of host publicationProceedings of the ASME Design Engineering Technical Conference
Pages1833-1836
Number of pages4
Volume4
EditionPARTS A, B AND C
DOIs
StatePublished - 2009
Externally publishedYes
EventASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009 - San Diego, CA, United States
Duration: Aug 30 2009Sep 2 2009

Other

OtherASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
CountryUnited States
CitySan Diego, CA
Period8/30/099/2/09

Fingerprint

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

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Cite this

Bhalerao, K. D., Poursina, M., & Anderson, K. S. (2009). Logarithmic complexity sensitivity analysis of flexible multibody systems. In Proceedings of the ASME Design Engineering Technical Conference (PARTS A, B AND C ed., Vol. 4, pp. 1833-1836) https://doi.org/10.1115/DETC2009-87585

Logarithmic complexity sensitivity analysis of flexible multibody systems. / Bhalerao, Kishor D.; Poursina, Mohammad; Anderson, Kurt S.

Proceedings of the ASME Design Engineering Technical Conference. Vol. 4 PARTS A, B AND C. ed. 2009. p. 1833-1836.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bhalerao, KD, Poursina, M & Anderson, KS 2009, Logarithmic complexity sensitivity analysis of flexible multibody systems. in Proceedings of the ASME Design Engineering Technical Conference. PARTS A, B AND C edn, vol. 4, pp. 1833-1836, ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009, San Diego, CA, United States, 8/30/09. https://doi.org/10.1115/DETC2009-87585
Bhalerao KD, Poursina M, Anderson KS. Logarithmic complexity sensitivity analysis of flexible multibody systems. In Proceedings of the ASME Design Engineering Technical Conference. PARTS A, B AND C ed. Vol. 4. 2009. p. 1833-1836 https://doi.org/10.1115/DETC2009-87585
Bhalerao, Kishor D. ; Poursina, Mohammad ; Anderson, Kurt S. / Logarithmic complexity sensitivity analysis of flexible multibody systems. Proceedings of the ASME Design Engineering Technical Conference. Vol. 4 PARTS A, B AND C. ed. 2009. pp. 1833-1836
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