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Supervised by Ministry of Industry and Information Technology of The People''s Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

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Interval Motion Accuracy Reliability Analysis of Manipulator Based on Chebyshev Inclusion Polynomial
Juan Wei, Jian-guo Zhang, Xiao-song Du
School of Reliability and System Engineering,Beihang University
Abstract:
Motion accuracy of space manipulators has direct effects on the ability of the systems to perform specified tasks. However, some design variables are inherently interval parameters due to uncertainties in geometric structures, material properties, and so on. This paper presents Chebyshev inclusion function (CIF) for approximating the dynamic responses function of parametrically excited systems. Motion accuracy reliability (MAR) of space manipulators was evaluated based on mechanism reliability analysis methods and interval uncertainty model. To illustrate the accuracy of the proposed method, a two-link manipulator with interval parameters was demonstrated. The results showed that the proposed method required much fewer samples to obtain more accurate reliability compared with the traditional Monte Carlo simulation (MCS). Finally, the sensitivity analysis was performed to facilitate the optimization design by using global sensitivity analysis.
Key words:  space manipulator  motion accuracy reliability (MAR)  interval theory  Chebyshev inclusion function (CIF)
DOI:10.11916/j.issn.1005-9113.18048
Clc Number:TB114.3
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