Computation of Direct Sensitivities of Spatial Multibody Systems With Joint Friction

Verulkar, Adwait; Sandu, Corina; Dopico, Daniel; Sandu, Adrian

doi:10.1115/1.4054110

Computation of Direct Sensitivities of Spatial Multibody Systems With Joint Friction

Journal Article · 01 April 2022 · Journal of Computational and Nonlinear Dynamics

DOI:https://doi.org/10.1115/1.4054110· OSTI ID:1980698

Verulkar, Adwait ^[1]; Sandu, Corina ^[1]; Dopico, Daniel ^[2]; Sandu, Adrian ^[3]

Terramechanics, Multibody and Vehicle Systems Laboratory, Department of Mechanical Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061
Laboratorio de Ingeniería Mecánica, Department of Naval and Industrial Engineering, University of A Coruña, A Coruña 15001, Spain
Computational Science Laboratory, Department of Computer Science, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061

Abstract Friction exists in most mechanical systems and may have a major influence on the dynamic performance of the system. The incorporation of friction in dynamic systems has been a subject of active research for several years owing to its high nonlinearity and its dependence on several parameters. Consequently, optimization of dynamic systems with friction becomes a challenging task. Gradient-based optimization of dynamical systems is a prominent technique for optimal design and requires the computation of model sensitivities with respect to the design parameters. The novel contribution of this paper is the derivation of the analytical methodology for the computation of direct sensitivities for smooth multibody systems with joint friction using the Lagrangian index-1 formulation. System dynamics have been computed using two different friction models; the Brown and McPhee, and the Gonthier et al. model. The methodology proposed to obtain model sensitivities has also been validated using the complex finite difference method. A case study has been conducted on a spatial multibody system to observe the effect of friction on the dynamics and model sensitivities, compare sensitivities with respect to different parameters and demonstrate the numerical and validation aspects. Since design parameters can have very different magnitudes and units, the sensitivities have been scaled with the parameters for comparison. Finally, a discussion has been presented on the interpretation of the case study results. Due to the incorporation of joint friction, ‘jumps’ or discontinuities are observed in the model sensitivities akin to those observed for hybrid dynamical systems.

Research Organization:: Virginia Polytechnic Inst. and State Univ. (Virginia Tech), Blacksburg, VA (United States)

Sponsoring Organization:: USDOE Office of Science (SC)

DOE Contract Number:: SC0021313

OSTI ID:: 1980698

Journal Information:: Journal of Computational and Nonlinear Dynamics, Vol. 17, Issue 7; ISSN 1555-1415

Publisher:: American Society of Mechanical Engineers (ASME)

Country of Publication:: United States

Language:: English

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