变胞机构多失效模式运动可靠性分析与优化

doi:10.3901/JME.2021.11.184

摘要/Abstract

摘要： 针对含概率随机变量和非概率区间变量的面向任务可控变胞机构的多失效模式运动可靠性模型，提出了一种可靠度计算的方法，该方法根据可靠性变量生成含有概率信息的状态空间，结合多失效模式的失效功能函数及其变量的相关性函数生成的安全空间函数，得到变量状态空间中的安全空间，对其求解或空间离散化计算得出可靠度。在此基础上，提出了多失效模式的变胞机构运动可靠性的优化方法，得出满足约束条件的最优目标函数值及优化变量对应的可靠度分布情况。运用所提出的方法对实例中的变胞码垛机器人系统运动可靠性模型进行分析与优化，通过与传统的计算方法进行对比，验证了所提方法的准确性。研究工作为变胞机构可靠性的研究提供了参考。

关键词: 变胞机构, 多失效模式, 可靠度, 优化, 状态空间

Abstract: A reliability calculation method is proposed for the kinematic reliability model with the multiple failure modes of task-oriented controllable metamorphic mechanisms with probabilistic random variables and non-probabilistic interval variables. In this method, the state space with probability information is presented according to the reliability variables, the safe space function is generated by combining the failure functions of multiple failure modes and the correlation functions of their variables, and the safe space in the state space is achieved, the reliability is obtained by solving it or calculating with spatial discretization for it. On this basis, an optimization method for kinematic reliability of metamorphic mechanisms with multiple failure modes is developed. The optimal objective function value and the reliability distribution of the optimal variables satisfied the constraint conditions are attained. The kinematic reliability model of the metamorphic palletizing robot system in case study is analyzed and optimized by these methods. Through comparison with the conventional calculation methods, the accuracy of these methods is verified. This study provides a reference basis for reliability study of metamorphic mechanisms.

Key words: metamorphic mechanisms, multiple failure modes, reliability, optimization, state space

中图分类号:

TH123

王汝贵, 陈辉庆. 变胞机构多失效模式运动可靠性分析与优化[J]. 机械工程学报, 2021, 57(11): 184-194.

WANG Rugui, CHEN Huiqing. Analysis and Optimization on Kinematic Reliability of Metamorphic Mechanisms with Multiple Failure Modes[J]. Journal of Mechanical Engineering, 2021, 57(11): 184-194.

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