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 offreedom 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 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Pages1833-1836
Number of pages4
EditionPART C
DOIs
StatePublished - Jun 25 2010
Event2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009 - San Diego, CA, United States
Duration: Aug 30 2009Sep 2 2009

Publication series

NameProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
NumberPART C
Volume4

Conference

Conference2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009
CountryUnited States
CitySan Diego, CA
Period8/30/099/2/09

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Hardware and Architecture
  • Electrical and Electronic Engineering

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  • Cite this

    Bhalerao, K. D., Poursina, M., & Anderson, K. S. (2010). Logarithmic complexity sensitivity analysis of flexible multibody systems. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 (PART C ed., pp. 1833-1836). (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; Vol. 4, No. PART C). https://doi.org/10.1115/DETC2009-87585