Reliability Analysis And Optimization Of Industrial Robot RV Reducer Under Multiple Failure Modes

Industrial robot is a rapidly developing technology in the modern industrial process.It is an electromechanical integration device for multi-field and multi-disciplinary integration.RV reducer,as the core component of industrial robot,mainly bears the role of deceleration and power transmission,and is an indispensable important part of industrial robot.The working environment and tasks undertaken by the RV reducer place high demands on its reliability.However,the multiple failure modes that may exist during operation make its reliability problem particularly complicated.The reliability of the RV reducer is directly related to the indicators of the industrial robot and affects the operation of each device in the system.The RV reducer exhibits different operating states under the action of multiple failure modes.It is necessary to carry out corresponding reliability research according to the actual project.Improving the reliability of the RV reducer is extremely important for the development of the industrial robot field.The structure of RV reducer is relatively complex,and domestic and foreign research has achieved certain results,but there are still many difficult problems to be solved urgently.Therefore,the research on the structural reliability and reliability optimization of RV reducers has important theoretical significance and practical engineering value.In this paper,structural analysis and correlation analysis of multiple failure modes are carried out for a certain type of RV reducer.Under the action of multiple failure modes,the structural reliability is studied to provide structural reliability analysis methods.Carry out reliability optimization design and propose feasible optimization design scheme.The main research content of this paper includes the following aspects:(1)Failure Mode Effects and Criticality Analysis(FMECA)and Fault Tree Analysis(FTA)of RV reducer.This paper makes an in-depth analysis of the structure of RV reducer and its working environment,obtains possible failure modes,determines corresponding failure conditions,defines failure modes,sorts out and summarizes the causes and effects of various major failure modes.The FMECA method is used to analyze the multiple failure modes of RV reducers,find the weak links,and take the main failure modes as the research object.According to the analysis principle of the FTA method,determine the fault manifestation corresponding to the multi-failure mode of the RV reducer,build a fault tree and analyze it.Through analysis,the main failure modes and failure manifestations of the RV reducer can be obtained,and qualitative and quantitative analysis results can be obtained,which provides a basis for the reliability research under multiple failure modes.(2)Structural reliability analysis of RV reducer based on Kriging agent model and finite element analysis method.Under the joint action of multiple failure modes,the structural reliability of the RV reducer will change,so it is of great significance to study its structural reliability.In multi-failure mode,the structure of the RV reducer will exhibit a variety of different limit states.In the multi-failure mode,the structure of the RV reducer will present a variety of different limit states,and the corresponding performance functions can be obtained according to the structural characteristics and the failure physical model.Most of the performance functions are nonlinear implicit equations,and the corresponding data can be obtained by finite element analysis.By using the Kriging proxy model to model the reliability of the RV reducer,the reliability model is analyzed to obtain the reliability of the RV reducer in the multi-failure mode.The analysis results show that the reliability of the RV reducer is closely related to the form of multiple failure modes and the correlation between them.The reliability obtained by considering the joint effect of multiple failure modes is more in line with the actual project.(3)Reliability optimization design of RV reducer.In order to improve the structure and efficiency of the RV reducer,a series of structural parameters are selected as design variables,and its volume and transmission efficiency are used as the objective functions.The limit state constraints under the action of multiple failure modes are considered to establish a reliability optimization model.Using multi-objective genetic algorithm for static reliability optimization analysis,the optimization results under the static model are obtained.Considering the strength degradation,the Gamma process is introduced to change the reliability optimization model into a dynamic model,and the dynamic optimization design analysis is performed to obtain the optimization under the dynamic model result.The analysis results show that the static model and the dynamic model of the reliability optimization of the RV reducer have different optimization results.The optimization model can be selected according to the actual project to obtain a more reasonable optimization result.