Dynamic analysis of space robot manipulator considering clearance joint and parameter uncertainty: Modeling, analysis and quantification

Clearance joint as an inevitable nonlinear factor in space robot manipulator modifies dynamic response of the mechanism, justifies deviations between predictions and measurements, and enhances sensitivity of mechanism response to parameter variation. The coupling of clearance joint and parameter unc...

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Veröffentlicht in:	Acta astronautica 2020-04, Vol.169, p.158-169
Hauptverfasser:	Xiang, Wuweikai, Yan, Shaoze
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Chebyshev approximation Clearance joint Coefficient of friction Contact force Dynamic response Dynamics Equations of motion Friction Manipulator Manipulators Mathematical models Parameter sensitivity Parameter uncertainty Polynomials Robot arms Robots Sensitivity analysis Sensitivity enhancement Space robots Uncertainty Uncertainty analysis
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