Abstract
The reliability of the parallel mechanical leg (2ups+up) based on the repairable Markov model was studied. First the repairable Markov model was built up, and the matrix of the state transition rate was got. Then by solving the steady-state equation the steady state indexes such as the availability, the failure frequency, mean up-time, mean down-time, mean cycle time were obtained. Finally we gave the reliability and mean time to first failure by solving the differential equation group.
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