工业工程

工业工程 ›› 2018, Vol. 21 ›› Issue (5): 50-56.doi: 10.3969/j.issn.1007-7375.2018.05.007

• 实践与应用 • 上一篇    下一篇

脚踝康复机器人的可靠性评估

邓超, 陶志奎, 吴军   

  1. 华中科技大学 机械科学与工程学院, 湖北 武汉 43007
  • 收稿日期:2017-05-24 出版日期:2018-10-30 发布日期:2018-11-05
  • 作者简介:邓超(1970-),女,湖南省人,教授,博士,主要研究方向为可靠性工程、先进制造工艺与装备技术
  • 基金资助:
    国家自然科学基金资助项目（51605095，51475189）；国家重点研发计划政府间专项资助项目（2016YFE0121700）

A Reliability Evaluation of Ankle Rehabilitation Robot

DENG Chao, TAO Zhikui, WU Jun   

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
  • Received:2017-05-24 Online:2018-10-30 Published:2018-11-05

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摘要： 本文首先对脚踝康复机器人的结构和功能进行分析，描述脚踝康复机器人各功能单元的相互依赖关系。建立脚踝康复机器人故障树，通过故障树的定性和定量分析，得到故障树底事件的相对概率重要度，从而确定关键零部件及其故障模式。建立脚踝康复机器人的可靠性数学模型及可靠性框图，并计算得到脚踝康复机器人系统基本可靠度。本文探索了一种比较实用、高效的脚踝康复机器人可靠性评估方法，为脚踝康复机器人可靠性设计提供依据。

关键词: 脚踝康复机器人, 故障树(FTA), 可靠性评估, 可靠性框图, 功能分析

Abstract: Firstly, the structure and function of ankle rehabilitation robot are analyzed. The interdependence of each functional unit of the ankle rehabilitation robot is described. After building the fault tree analysis (FTA) of the ankle rehabilitation robot, and the qualitative and quantitative analysis of FTA, the key parts and failure modes with high relative probability importance are achieved. Then the mathematical model of reliability and reliability block diagram are established. The basic reliability of the ankle rehabilitation robot system is calculated. Thus a more practical and efficient method for reliability prediction in the implementation of rehabilitation robot system is explored, which may serve as the basis for ankle rehabilitation robot reliability design.

Key words: ankle rehabilitation robot, fault tree analysis (FTA), reliability evaluation, reliability block diagram, functional analysis

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