中文摘要：

根据可缠绕式混合驱动柔索并联机器人的机构组成及工作原理,将失效模式与影响分析法（FMEA）和引入模糊集理论的故障树分析法（FTA）应用到该机器人系统的可靠性研究中,分析了机器人各子系统中零部件所有可能的故障模式、故障原因以及故障模式对系统的影响,找出了系统中潜在的薄弱环节和关键的零部件,通过理论计算可以得到机器人系统的故障隶属函数表及总体失效概率,结果显示机器人控制子系统对系统可靠性影响要大于机器人本体子系统和机器人动力子系统。研究结果对提高可缠绕式混合驱动柔索并联机器人系统可靠性有一定的指导意义。

英文摘要：

According to the constitutions of mechanism and working principle of the winding hybrid-driven cable parallel manipulator, the reliability of the robot system is studied in this paper with the methods of FMEA and FTA based on the fiLzz set theory. The paper analyzes all possible fault causes, fault modes of parts in the subsyste and their influences on the robot system, and finds out the potential weak segments and key parts in the robot system. The fault membership function table and the total failure probability of the robot system can be obtained by tbearetical calculation. The results show that the robot control subsystem has more effect on the robot system than the robot body subsystem and the robot dynamical subsystem. The study have a certain guiding signilCwance to improve the reliability of the winding hybrid-driven cable parallel manipulator system.