Analysis and Optimal Design of Spatial Mechanical Systems.

This paper presents a new approach to optimal design of large multibody spatial mechanical systems which takes advantage of both numerical analysis and symbolic computing. Identification of system topology is carried out using graph theory. The equations of motion are formulated in terms of relative joint coordinates through the use of a velocity transformation matrix. Design sensitivity analysis is carried out using the direct differentiation method applied to the relative joint coordinate formulation for spatial systems. The symbolic manipulation program MACSYMA is used to automatically generate the necessary equations for both dynamic and design sensitivity analyses for any spatial system. The symbolic equations are written as FORTRAN statements that are linked to a general purpose computer program which performs dynamic analysis, design sensitivity analysis, and optimization, using numerical techniques. Examples are presented to demonstrate reliability and efficiency of this approach.

Main Author: Ashrafiuon, Hashem.
Other Authors: Mani, N. K.
Language: English
Published: 1990
Online Access: http://ezproxy.villanova.edu/login?url=https://digital.library.villanova.edu/Item/vudl:173867
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dc_source_str_mv ASME Journal of Mechanical Design 112, June 1990, 200-207.
author Ashrafiuon, Hashem.
author_s Ashrafiuon, Hashem.
spellingShingle Ashrafiuon, Hashem.
Analysis and Optimal Design of Spatial Mechanical Systems.
author-letter Ashrafiuon, Hashem.
author_sort_str Ashrafiuon, Hashem.
author2 Mani, N. K.
author2Str Mani, N. K.
dc_title_str Analysis and Optimal Design of Spatial Mechanical Systems.
title Analysis and Optimal Design of Spatial Mechanical Systems.
title_short Analysis and Optimal Design of Spatial Mechanical Systems.
title_full Analysis and Optimal Design of Spatial Mechanical Systems.
title_fullStr Analysis and Optimal Design of Spatial Mechanical Systems.
title_full_unstemmed Analysis and Optimal Design of Spatial Mechanical Systems.
collection_title_sort_str analysis and optimal design of spatial mechanical systems.
title_sort analysis and optimal design of spatial mechanical systems.
description This paper presents a new approach to optimal design of large multibody spatial mechanical systems which takes advantage of both numerical analysis and symbolic computing. Identification of system topology is carried out using graph theory. The equations of motion are formulated in terms of relative joint coordinates through the use of a velocity transformation matrix. Design sensitivity analysis is carried out using the direct differentiation method applied to the relative joint coordinate formulation for spatial systems. The symbolic manipulation program MACSYMA is used to automatically generate the necessary equations for both dynamic and design sensitivity analyses for any spatial system. The symbolic equations are written as FORTRAN statements that are linked to a general purpose computer program which performs dynamic analysis, design sensitivity analysis, and optimization, using numerical techniques. Examples are presented to demonstrate reliability and efficiency of this approach.
publishDate 1990
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dc.title Analysis and Optimal Design of Spatial Mechanical Systems.
dc.creator Ashrafiuon, Hashem.
Mani, N. K.
dc.description This paper presents a new approach to optimal design of large multibody spatial mechanical systems which takes advantage of both numerical analysis and symbolic computing. Identification of system topology is carried out using graph theory. The equations of motion are formulated in terms of relative joint coordinates through the use of a velocity transformation matrix. Design sensitivity analysis is carried out using the direct differentiation method applied to the relative joint coordinate formulation for spatial systems. The symbolic manipulation program MACSYMA is used to automatically generate the necessary equations for both dynamic and design sensitivity analyses for any spatial system. The symbolic equations are written as FORTRAN statements that are linked to a general purpose computer program which performs dynamic analysis, design sensitivity analysis, and optimization, using numerical techniques. Examples are presented to demonstrate reliability and efficiency of this approach.
dc.date 1990
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dc.source ASME Journal of Mechanical Design 112, June 1990, 200-207.
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