Optimization of Passive and Active Dynamic Systems

Abstract

The multibody system approach is widely accepted as an analysis tool for kinematic and kinetic investigation of rigid body systems connected by rigid frictionless bearings and massless coupling elements. Due to the specific structure of the equations of motion, they may easily be coupled with additional differential equations describing the dynamics of active coupling elements like pneumatic or hydraulic actuators, electric motors, or general control laws. Especially in the context of active system design, a coupling of the multibody system approach with high-level simulation software like Matlab/Simulink [1] shows quite some overall design capability although the performance of a single simulation run may be less than for specific numerical integration algorithms. However, the use of such a model in the context of virtual prototyping is often restricted to user-driven parameter studies whereas the design capability for a more systematic synthesis is overlooked.