Characterization of the contribution of inertial parameters to the dynamics of multibody systems

In this paper, an approach is developed for sensitivity analysis of inertial parameters. It is based on the reformed equations of motion linear in terms of the inertial parameters, which are transformed to dimensionless inertial parameters. Based on an eigenvalue analysis, directions of the parameter space are found along which maximum/minimum changes are achieved on the generalized forces, i.e., on the dynamics of the system. Directional derivatives of the generalized force vector in these directions characterize how each inertial parameter contributes to the system dynamics.