OPTIMIZATION OF CONTROLLED FLEXIBLE MECHANISMS USING DYNAMIC NONLINEAR FINITE-ELEMENT ANALYSIS

A new methodology for simultaneously analyzing and optimizing flexible mechanisms or structures undergoing large motions using dynamic nonlinear finite element analysis is presented. Analysis of flexible mechanisms or structures undergoing large motions using finite element methods is first reviewed. Optimization methods applicable to such systems are then described. A direct approach is then applied to the nonlinear equations of motion to develop a strategy which simultaneously optimizes structural and control parameters. Sensitivity derivatives are computed by direct differentiation of the discretized equations of motion. The approach is both rigorous and computationally convenient. The methodology incorporates a very general objective function and constraint definition. The sensitivity analysis methodology and the overall optimization scheme are applied to previously published and to new problems demonstrating the utility of the developed methodology.