Parameter Analysis and Normalization for the Dynamics and Design of Multibody Systems

Abstract

In this paper, we introduce a novel concept for parametric studies in multibody dynamics. This includes a technique to perform a natural normalization of the dynamics in terms of inertial parameters. This normalization technique rises out from the underlying physical structure of the system and the trajectory investigated. This structure is mathematically expressed in the form of eigenvalue problems. It leads to the introduction of the concept of dimensionless inertial parameters. This, in turn, makes it possible to introduce an analysis approach for studying design and control problems where parameter estimation and sensitivity are of importance.