中文摘要：

为了减少柔性机构总体设计质量,结合可靠性优化的均值模型、概率模型和普遍型分解协调方法,提出了柔性机构可靠性优化的均值-概率分解协调法.该方法首先把柔性机构整体优化模型通过普遍型分解协调法转化为单约束的均值模型主规划优化和多约束的概率模型的分规划优化;在分规划优化中,把所有失效模式的概率约束转化为确定型约束;利用导重法分别对分规划和主规划求解.通过双连杆柔性机械臂实例进行了分析和计算,结果表明：在柔性机构可靠性中,均值-概率分解协调法的优化结果最好.该方法为柔性机构可靠性整体优化提供了一种优化的新思路.

英文摘要：

In order to reduce the overall design quality flexible mechanism, when the mean model and probability model for reliability optimization were combined with universal-type decomposition coordinated method, Mean-probability Decomposition Coordinated Method（MDCM） was inflexible mechanism reliability optimization. In this method, the overall optimization model of the flexible mechanism can be translated into a single constraints mean model in master optimization and multi-constraint probability model in sub-optimization in sub-optimization, the probability constraint equations of all failure modes is changed into deterministic constraint equations; sub-optimization and master optimization can be solved by using derivative--weight method. Reliability optimization of double-link flexible manipulator was analyzed and calculated by MDCM, and optimal value is the best in reliability optimization for flexible mechanism. This method provides a new idea for overall flexible mechanism reliability optimization.