关键词: 机械臂;运动灵活性;主成分分析;综合评价;相关性

Abstract: In evaluation of robotic kinematic dexterity performance, there are many different indexes to express robotic kinematic dexterity, and those different indexes tend to have different degree of correlations among them. Some correlations are very remarkable, so the provided information may be overlapped. New indexes are created by using the principal component analysis. These new indexes which are related to each other can reflect robotic kinematic dexterity comprehensively. Comprehensive evaluation of kinematic dexterity of the planar 2R and three different configurations spatial 3R manipulators are described with the different dimensions and same configuration, by using principal component analysis which is characterized by lowering dimension gradually and dealing comprehensively, and correlations between the various kinematic dexterity indexes are also presented. The results show that the five kinematic dexterity indexes of the planar 2R and PUMA spatial 3R manipulator are positively correlated and have the same change pattern. A comprehensive dexterity performance index can represent the five indexes information. For the five kinematic dexterity indexes of other two spatial 3R manipulators, some indexes are positively correlated and some indexes are negatively correlated. A variable can be used for representing the information of manipulators isotropic indexes; a variable can be used for representing the indexes information of the motion ability of manipulators.

Key words: manipulator;kinematic dexterity;principal component analysis;comprehensive evaluation;correlation