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

被引:47
作者
Bhalerao, Kishor D. [1 ]
Poursina, Mohammad [1 ]
Anderson, Kurt S. [1 ]
机构
[1] Rensselaer Polytech Inst, Troy, NY 12180 USA
基金
美国国家科学基金会;
关键词
Sensitivity analysis; Direct differentiation; Divide and conquer scheme; Flexible multibody systems; PARALLEL O(LOG(N)) CALCULATION; ARTICULATED-BODY ALGORITHM; MECHANICAL SYSTEMS; CONQUER ALGORITHM; DYNAMICS; SIMULATION; DESIGN; MODELS;
D O I
10.1007/s11044-009-9176-0
中图分类号
O3 [力学];
学科分类号
08 ; 0801 ;
摘要
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.
引用
收藏
页码:121 / 140
页数:20
相关论文
共 36 条
[1]  
ANDERSON KS, 2000, P INT C THEOR APPL M
[2]   AUTOMATIC DIFFERENTIATION AS A TOOL IN ENGINEERING DESIGN [J].
BARTHELEMY, JFM ;
HALL, LE .
STRUCTURAL OPTIMIZATION, 1995, 9 (02) :76-82
[3]   Development of simple models for the elastic forces in the absolute nodal co-ordinate formulation [J].
Berzeri, M ;
Shabana, AA .
JOURNAL OF SOUND AND VIBRATION, 2000, 235 (04) :539-565
[4]   ANALYZING AND OPTIMIZING MULTIBODY SYSTEMS [J].
BESTLE, D ;
EBERHARD, P .
MECHANICS OF STRUCTURES AND MACHINES, 1992, 20 (01) :67-92
[5]  
BESTLE D, 1992, ARCH APPL MECH, V62, P181
[6]  
BISCHOF CH, 1996, P IUTAM S OPT MECH S, P41
[7]   Dynamic simulation of multibody systems including planar elastic beams using Autolev [J].
Botz, M ;
Hagedorn, P .
ENGINEERING COMPUTATIONS, 1997, 14 (04) :456-&
[8]   OPTIMAL-DESIGN OF MECHANICAL SYSTEMS WITH CONSTRAINT VIOLATION STABILIZATION METHOD [J].
CHANG, CO ;
NIKRAVESH, PE .
JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME, 1985, 107 (04) :493-498
[9]   COUPLING OF SUBSTRUCTURES FOR DYNAMIC ANALYSES [J].
CRAIG, RR ;
BAMPTON, MCC .
AIAA JOURNAL, 1968, 6 (07) :1313-&
[10]   Sensitivity Analysis of Rigid-Flexible Multibody Systems [J].
Dias, J. M. P. ;
Pereira, M. S. .
MULTIBODY SYSTEM DYNAMICS, 1997, 1 (03) :303-322