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.