Abstract Aiming at the problem of systems’ dynamic characteristics’ randomness caused by connection gaps of submerged multi-body structures, a stochastic and uncertainty dynamical model were formulated for connection gaps and dynamic elongation of mooring cables. This model considered sag effect caused by light, soft and low damping characteristics of mooring cables and their dynamic elongation under the impact of flow field and connection gaps. The equivalent elastic modulus method was used to modify the sag effect. The Newmark-β method was used to solve the problem. Calculation results showed that the average value and peak value of floating body displacement caused by uncertainty of gap contact states are larger than those of ideal articulated states. The reliability of floating body’s displacement with gap contact will be reduced to different extents and the reliability of displacement in velocity direction changes greatly, especially perpendicular to flow field. When studying multi-body structures, randomness of contact state should be considered to reduce the dispersion of clearance and improve dynamic performance.
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