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Supervised by Ministry of Industry and Information Technology of The People's Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

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Related citation:Zhi-Juan Sun,Jing Zhao,Li-Ming Li.Application of Task-Oriented Method of Serial Robot for Mechanism Analysis and Evaluation[J].Journal of Harbin Institute Of Technology(New Series),2014,(2):13-20.DOI:10.11916/j.issn.1005-9113.2014.02.003.
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Application of Task-Oriented Method of Serial Robot for Mechanism Analysis and Evaluation
Author NameAffiliation
Zhi-Juan Sun College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijng 100124,China 
Jing Zhao College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijng 100124,China 
Li-Ming Li College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijng 100124,China 
Abstract:
Revealing the relations among robotic comprehensive performance, configuration, scales and working tasks is the basis to optimize robotic mechanism. Due to the correlation and diversity of the single performance indexes, statistical principles of linear dimension reduction and nonlinear dimension reduction are introduced into comprehensive performance analysis and evaluation for typical serial robot. The robotic mechanism’s configuration, scales and task with the best comprehensive performance can be obtained by principal component analysis (PCA) and kernel principal component analysis (KPCA) respectively. The results show that KPCA can reveal the nonlinear relations among different single performance indexes more effectively and provide more comprehensive performance information than PCA. Thus, task-oriented method of serial robot for mechanism analysis and evaluation is proposed, which also provides scientific research basis for the mechanism synthesis and optimum task order.
Key words:  serial robot  mechanism analysis  mechanism synthesis  optimum task  PCA  KPCA
DOI：10.11916/j.issn.1005-9113.2014.02.003
Clc Number:TP241.3
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