Analysis and Optimization on Kinematic Reliability of Metamorphic Mechanisms with Multiple Failure Modes

doi:10.3901/JME.2021.11.184

Abstract

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

CLC Number:

TH123

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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