A reliability analysis method using adaptive Kriging with a parallel point strategy has been proposed to address the impact vibration problem caused by the clearance between motion pairs. Firstly, a hinge clearance collision model is established based on the L-N model and an improved Coulomb model, with a mechanism dynamics model constructed by using the Lagrange method. By introducing the influence function (IF) and pseudo learning function (PH), parallel selection of multiple training points in each iteration has been achieved, significantly improving modeling efficiency. A numerical simulation analysis has been made of the influence of gap value, material elastic modulus, and friction coefficient on the reliability of diagonal displacement error. The results demonstrate that, compared to traditional methods, the proposed approach significantly enhances computational efficiency while ensuring accuracy, providing effective theoretical support for the reliability design of folding wing mechanisms.