仿金花蛇空间转向机构的主动可靠性仿真分析  

Analysis and Design of Reliability for Steering Mechanism of the Imitation of Chrysopelea Ornata

作　　者：赵明[1,2] 冯宝林[1,2] 李露 路晓波[1,2] 

机构地区：[1]中国科学技术大学,安徽合肥230026 [2]中国科学院合肥物质科学研究院,安徽合肥230031

出　　处：《机械研究与应用》2017年第5期17-21,29,共6页Mechanical Research & Application

基　　金：国家自然基金委:仿金花蛇躯体形变特征的空间展收机构功能机理研究(编号:51275505);国家自然基金委(青年基金):仿落猫着陆特性的机器人任意姿态安全跌落机理及实现方法研究(编号:51405470)

摘　　要：针对仿金花蛇空间转向机构在转向过程中的可靠性问题,将转向机构的使用寿命作为预设参数,构建基于马尔可夫过程的主动可靠性分析模型。模拟仿真转向过程中分系统的失效率序列和修复率序列。得到仿金花蛇空间转向机构可用度的稳态值、趋于稳态的逼近时间以及下限点三个重要的指标,最终完成仿金花蛇空间转向机构的主动可靠性仿真分析。该分析方法和思想将为其他航天器或者仿生机器人中串联可修复系统的主动可靠性分析提供一种参考。As for the reliability for spacial steering mechanism of the imitation of Chrysopelea ornata,the following work has been done in this paper: The mathematical model of active reliability based on the Markov process( MP) was proposed to describe the relationship of the reliability between the different service lives of the spacial steering mechanism. The failure rate sequence and the repair rate sequence of the subsystem are simulated during the steering process. The three important indexes like the steady-state values,the approximation time and the lower limit of the availability are obtained. Finally,the active reliability analysis is finished. The analysis method and idea will provide a reference for the active reliability analysis of series repairable systems in other spacecrafts or biomimetic robots.

关 键 词：仿金花蛇转向机构 马尔可夫过程 主动可靠性 状态随机性 失效率和修复率 

分 类 号：V438.4[航空宇航科学与技术—航空宇航推进理论与工程]