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| Interval uncertainty analysis of flexible manipulator based on surrogate model |
| Received:July 15, 2023 Revised:September 08, 2023 |
| View Full Text View/Add Comment Download reader |
| DOI：10.7511/jslx20230715001 |
| KeyWord:flexible manipulator interval analysis uncertain parameters surrogate model Chebyshev polynomials |
| Author | Institution |
| 黄文建 |
西南交通大学 机械工程学院, 成都 |
| 刘放 |
西南交通大学 机械工程学院, 成都 |
| 李晨晖 |
西南交通大学 机械工程学院, 成都 |
| 杨明发 |
西南交通大学 机械工程学院, 成都 |
| 吴宝宁 |
西南交通大学 机械工程学院, 成都 |
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| Abstract: |
| Aiming at the uncertainty of dynamic responses caused by uncertain parameters in flexible manipulator systems,an interval uncertainty analysis method based on local mean decomposition(LMD)and Chebyshev surrogate model(CM)was proposed.Based on the LMD method,the nonlinear response of the flexible manipulators is decomposed into several components,and the instantaneous amplitude,instantaneous phase and trend term of the signal are analyzed.The Chebyshev surrogate model is constructed for the decomposed signal,and then the complete surrogate model of the flexible manipulators is obtained.The proposed uncertainty analysis method for flexible manipulator can improve the phenomenon of interval boundary failure in traditional CM methods in long-term analysis.A numerical example is used to demonstrate the effectiveness and accuracy of this method in uncertainty analysis of flexible manipulator systems. |
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