Kinematics uncertainty analysis of mine bolter manipulator based on Chebyshev interval algorithms

A mine bolter is a fast, safe and economical support equipment, in which the manipulator is the key component for its parallel operation. In this study, the kinematics of mine bolter manipulator is selected as the research object. Aiming at the problem of the dynamic system response estimation of positive solution matrix with uncertain parameters, an interval estimation analysis method based on Chebyshev polynomial is proposed. The response envelope interval of the forward kinematics solution matrix of the manipulator with uncertain parameters is investigated using three types of surrogate models: scanning method, tensor product and collocation method. The feasibility and efficiency of the proposed algorithm are proved by a prototype test. The study of response interval with uncertain parameters has become a new method for predicting the spatial trajectory tracking and location of the manipulator to ensure that its prediction error is minimal.