Reliability analysis and optimization of dynamics of metamorphic mechanisms with multiple failure modes

Abstract

Metamorphic mechanisms usually have multiple failure modes in engineering applications. Due to the complex dynamics and different configuration transformations under various work states, these mechanisms urgently require an efficient evaluation method to evaluate their reliability. A reliability analysis of dynamics for a controllable metamorphic palletizing robot considering the multiple failure modes and the random and interval variables is proposed. The dynamic responses are integrated into the new variables to calculate the reliability in this method, and further solved by a developed optimization scheme based on sensitivity. This scheme can obtain the dynamics within each variable range at one time. Meanwhile, compared with the conventional calculation and experiment validation, the case results show that their relative deviations of reliability are small, demonstrating the effectiveness of the proposed calculation method and optimization scheme. This work offers theoretical reliability references for the application of metamorphic mechanisms in engineering.