Reliability Analysis and Simulation of a Drilling and Anchoring Robot Switching Mechanism Based on the High-Order Moment Method

The reliability of the switching mechanism is crucial for the operational efficiency and service life of drilling and anchoring robots. To address the challenges posed by uncertainties in system parameters, this paper proposes a novel method for reliability assessment by integrating the high-order moment method and Adams simulation. We first simplify the 3D model of the switching mechanism and develop a virtual prototype in Adams, incorporating contact relationships and kinematic pairs to realistically simulate its complex mechanical behavior. Considering the hydraulic cylinder force as a random variable following an extreme value distribution, multiple simulations with varying driving forces are performed to obtain the corresponding drilling box moving speeds. We then define a threshold for the drilling box speed as the reliability indicator and construct a limit state function based on this indicator. Subsequently, the high-order moment method is employed to calculate the reliability of the switching mechanism under different cylinder force conditions. This approach, leveraging the efficiency of the high-order moment method, offers a computationally advantageous alternative to traditional Monte Carlo methods, particularly for complex systems like the switching mechanism. Furthermore, the method can be readily extended to perform reliability sensitivity analysis and facilitate the optimization of the switching mechanism design. At present, drilling and anchoring robots have been successfully applied in Shaanxi, China, with one click control to complete tunnel support.