Inverse Dynamics of Delta Robot Based on the Principle of Virtual Work

A systematic methodology for solving the inverse dynamics of the Delta robot is presented.First,the inverse kinematics is solved based on the vector method.A new form of the Jacobi matrix formulized by the vectors is obtained so the three types kinematics singularities namely inverse, direct and combined types, can be identified with the physical meaning.Then based on the principle of virtual work, a methodology for driving the dynamical equations of motion is developed.Meanwhile the whole actuating torques, the torques caused by the gravity, the velocity and the acceleration are computed respectively in the numerical example. Results show that torque caused by the acceleration term is much bigger than the other two terms.This approach leads to efficient algorithms since the constraint forces and moments of the robot system have been eliminated from the equations of motion and there is no differential equation for the whole procedure when the principle of virtual work is applied to solving the inverse dynamical problem.

Exact Computation of Parallel Robot's Generalized Inertia Matrix

According to the definition of the new hypothetical states which have obvious physical significance and are termed as no-gravity static and accelerated states, a method for exact computation of the parallel robot＇s generalized inertia matrix is presented. Based on the matrix theory, the generalized inertia matrix of the parallel robot can be computed on the assumption that the robot is in these new hypothetical states respectively. The approach is demonstrated by the Delta robot as an example. Based on the principle of the virtual work, the inverse dynamics model of the robot is formulized after the kinematics analysis. Finally, a numerical example is given and the element distribution of the Delta robot＇s inertia matrix in the workspace is studied. The method has computationa＇, advantage of numerical accuracy for the Delta robot and can be parallelized easily.

Multi-Stage Image Compression-Decompression System Using PCA/IPCA to Enhance Wireless Transmission Security

The goal of this paper is to propose a fast and secure multi-stage image compression-decompression system by using a wireless network between two Personal Computers (PCs). In this paper, the Principal Component Analysis (PCA) technique is used for multi-stage image compression and Inverse Principal Component Analysis (IPCA) for multi-stage image decompression. The first step of the proposed system is to select the input image, the second step is to perform PCA up to 9 times on the input image, this compression, and after multi-stage compression process then the third step begins by transforming across wireless Ad hoc Network (WANET) to the second computing device, forth step start with multi-stage decompression process up 9 times. The proposed system for different images is transferred over the wireless network using Transmission Control Protocol/Internet Protocol (TCP/IP), which is programmed using the network role property of the MATLAB program. The proposed system implements 25 different images correctly (100%). The main contribution of this paper is that we are dealing with the black image at the end of the compressed process ad start with a black image at the start of the decompressed process of this proposed system. In this work, the compressed and uncompressed images are compared with each other in their size and transmission time. This system can be very useful in networks because they provide a high level of protection to the transmitted data from hackers because they cannot guess how much the image has been compressed or what kind of information the image represents.