谐波减速器精度退化失效及相关竞争失效可靠度评估研究

Here, to correctly evaluate the reliability of harmonic dirves, and realize failure prediction and active maintenance, a dependent competing failure reliability evaluation method for harmonic dirves was proposed. Firstly, according to precision performance degradation test data of harmonic dirves, the exponential model was applied to the precision state transition equation. The particle filtering algorithm was used to model precision degradation of harmonic dirves, update parameters, analyze the degradation trend, and realize failure life distribution prediction for precision degradation of harmonic dirves and precision dynamic reliability evaluation. Then, by combining harmonic dirves ' strength failure and stiffness degradation failure samples as well as distribution of failure life, based on Copula correlation function, a dynamic reliability evaluation method for dependent competing failure of harmonic dirves’ precision failure, stiffness failure and strength failure was established. Finally, through dependent competing failure analysis of harmonic dirves’ precision, stiffness and strength, the failure order of harmonic dirves’ precision degradation failure, stiffness degradation failure and strength failure under acceleration and rated working conditions was obtained. The effectiveness of the proposed method was verified with failure samples of harmonic dirve tests.