Comprehensive analysis and development of a hierarchical model of mechatronic device components

This article presents the results of a comprehensive analysis and development of a hierarchical model of the components of mechatronic devices, specifically robotic manipulators. The aim of the research was to create a structured approach for assessing serviceability and optimizing the repair processes of mechanical components. The methodology of the proposed model is based on an adaptation of Maslow’s psychological pyramid to the tasks of technical diagnostics. This innovative approach allowed for the classification of components into seven levels based on their critical impact on the overall system functionality. An important aspect is the model’s exclusive focus on the mechanical subsystem, deliberately excluding external factors such as power supply, networks, and software. As a result, a detailed model was developed that covers all levels of mechanical organization — from basic structural elements such as the frame and links (with an estimated serviceability of only ~3% in case of failure) to high-level adaptive components, such as interchangeable grippers (with an estimated serviceability of ~90%). For each level, the model specifies corresponding types of repair actions — from labor-intensive major overhauls required for the lower levels to rapid modular replace-ment for the upper ones. The practical significance of this work lies in providing engineers and technicians with a clear tool for planning maintenance, diagnosing faults, and minimizing equipment downtime. The pro-posed model contributes to increasing the efficiency of the mechatronic device lifecycle.