Sensitivity analysis is one of the tools that is steadily increasing relevance in Mechanical Engineering during the last years due to its impact in problems such as design optimization or optimal control. These optimization problems have been traditionally tackled in multibody dynamics using numerical differences to compute the sensitivities or gradient-free optimization methods, avoiding their analytical computation.The sensitivity analysis of the dynamic response of multibody system involves the differentiation of a set of differential equations dependent on the formulation and transformations used to solve the dynamics. The complexity of the equations and the wide variety of constraints and forces affecting a multibody system have contributed to commercial software packages to avoid these calculations and to use other techniques for optimization.In the last years, different approaches for the analytical computation of the sensitivities of the dynamics of multibody systems have been presented and developed, using the direct differentiation method, the adjoint method or automatic differentiation.In the present work, the computation of the sensitivity analysis of the semi-recursive formulation recently published is accomplished, by means of the adjoint method. This method has been implemented in the multi-purpose multibody library MBSLIM and tested in one academic example and one real-life multibody system.

Adjoint Sensitivity Analysis of Multibody Systems Modeled With Joint Coordinates Using an Augmented Lagrangian Formulation With Projections

Paper Proceedings: https://asmedigitalcollection.asme.org/IDETC-CIE/IDETC-CIE2021/volume/85369

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