| Author | Kurt S. Anderson, YuHung Hsu |
|---|---|
| Title | Analytical Full-Recursive Sensitivity Analysis for Multibody Dynamic Chain Systems |
| Year | 2000 |
| Journal | Multibody Systems Dynamics |
| Volume | - - |
| Pages | - - |
| Abstract | This paper presents an analytical \fully recursive" design sensitivity algorithm, a direct di er- entiation approach, to facilitate rst-order sensitivity analysis in optimal design problems of multibody dynamic systems. Advancement of the algorithm permits processing the calculation of sensitivity matrix in parallel with the procedures for state equations formulation. A special O(n) dynamic analysis algorithm based on a velocity space projection method, as promoted by Kane [16], forms the underlying formulation. The algorithm presented avoids the massive num- bers of operations involved in explicitly generating and solving sensitivity equations for systems involving a combination of many state variables and design parameters. Current development focus on chain systems to illustrate the recursive nature of the algorithm. Extension of the procedure to the classes of arbitrary tree topologies is straightforward. Solution accuracy of the algorithm is demonstrated by an numerical example of planar double pendulum. |
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