Reliability optimization of two-link flexible manipulator

摘要

To address the low computational efficiency and accuracy for reliability optimization of flexible mechanisms, the mean-probability decomposition-coordination-based extreme support vector machine regression (MPDC-ESVR) method based on the dynamics and uncertainty is proposed. Firstly, a dynamical model is built to calculate the maximum deformation. Then, the ESVR is used as a surrogate model to study the reliability of the flexible mechanisms. Finally, the MPDC are adopted to optimize the weight of the flexible mechanisms considering multiple failure modes. It is proved that the computational efficiency and accuracy of the present methodology are superior to those of Monte Carlo simulation (MCS) and quadratic polynomial-Monte Carlo simulation (QP-MCS) through exemplification with a two-link flexible manipulator. The results indicate the two-link flexible manipulator optimized by current MPDC is lighter than that by the equal distribution probabilistic method and the original manipulator, which is essential for low cost-effectiveness without compromise to safety.