Due to the correlation and diversity of robotic kinematic dexterity indexes, the principal component analysis （PCA） and kernel principal component analysis （KPCA） based on linear dimension reduction and nonlinear ...Due to the correlation and diversity of robotic kinematic dexterity indexes, the principal component analysis （PCA） and kernel principal component analysis （KPCA） based on linear dimension reduction and nonlinear dimension reduction principle could be respectively introduced into comprehensive kinematic dexterity performance evaluation of space 3R robot of different tasks. By comparing different dimension reduction effects, the KPCA method could deal more effectively with the nonlinear relationship among different single kinematic dexterity indexes, and its calculation result is more reasonable for containing more comprehensive information. KPCA＇ s calculation provides scientific basis for optimum order of robotic tasks, and furthermore a new optimization method for robotic task selection is proposed based on various performance indexes.展开更多
This paper described the structure and control of a new kind of miniature hexap od bio-robot, analyzed the moving principle of the robot. The robot is based on the principle of bionics, its structure is simple, design...This paper described the structure and control of a new kind of miniature hexap od bio-robot, analyzed the moving principle of the robot. The robot is based on the principle of bionics, its structure is simple, design novel, unique. It can mov e forwards and backwards. The external dimensions of bio-robot is: length 30 mm , width 40 mm, height 20 mm, weight 6.3 g. Some tests about the model robot were made. The experimental results show that the robot has good mobility.展开更多
基金Supported by the National Natural Science Foundation of China(No.51075005)the Beijing City Science and Technology Project(No.Z131100005313009)
文摘Due to the correlation and diversity of robotic kinematic dexterity indexes, the principal component analysis （PCA） and kernel principal component analysis （KPCA） based on linear dimension reduction and nonlinear dimension reduction principle could be respectively introduced into comprehensive kinematic dexterity performance evaluation of space 3R robot of different tasks. By comparing different dimension reduction effects, the KPCA method could deal more effectively with the nonlinear relationship among different single kinematic dexterity indexes, and its calculation result is more reasonable for containing more comprehensive information. KPCA＇ s calculation provides scientific basis for optimum order of robotic tasks, and furthermore a new optimization method for robotic task selection is proposed based on various performance indexes.
文摘This paper described the structure and control of a new kind of miniature hexap od bio-robot, analyzed the moving principle of the robot. The robot is based on the principle of bionics, its structure is simple, design novel, unique. It can mov e forwards and backwards. The external dimensions of bio-robot is: length 30 mm , width 40 mm, height 20 mm, weight 6.3 g. Some tests about the model robot were made. The experimental results show that the robot has good mobility.
