Uncertainty Analysis with Interval Parameters for Flexible Space Manipulator

Interval uncertainty method of dynamic analysis for the flexible space manipulator was studied in this paper. Absolute nodal coordinate formulation (ANCF), which can describe coupling characteristics of large displacement and large deformation precisely, was utilized to model flexible links of space manipulator. Multibody system dynamic model with uncertainties governed by index-3 differential algebraic equations (DAEs) was established based on ANCF and solved by generalized-α algorithm. Chebyshev inclusion functions deduced from truncated Chebyshev series were applied to convert dynamic equations with uncertainties into equations at interpolation points of Chebyshev series. Interval dynamic response of the manipulator system was achieved by single uncertainty and multiple uncertainties respectively, which results in a new prediction method of the manipulator endpoint. Compared with the results of Taylor's method, numerical simulations have demonstrated that the proposed method can effectively reduce the emulation workload of the system and errors of the dynamic response prediction value, and quickly obtain the interval dynamic response in a rapid and steady way.