Application of Simultaneous Mechanism Analysis and Synthesis in Serial Robots

To reveal the regularities among comprehensive performance,configuration and scales for simultaneous mechanism analysis and synthesis,due to the correlation and diversity of the single performance indexes of robot mechanism,combined with statistical principles,based on linear dimension reduction and nonlinear dimension reduction principle,principal component analysis(PCA) and kernel principal component analysis(KPCA) can be introduced into comprehensive performance evaluation for typical serial robots-plane series manipulator with different configurations and scales, then the mechanism's configuration and scales with best performance can be selected. Reults show that KPCA method has more effective reduction effects,and can reveal the nonlinear relationship among different single performance indexes to provide more comprehensive performance evaluation information,which can reveal the numerical calculation relationships among comprehensive performance, configuration and scales,and provide a scientific reference for simultaneous mechanism analysis and synthesis.