Abstract
The contribution of this research is to evaluate the advantages of torque control approach utilized on high speed movement mechanism. By doing so, an asymmetric arms with a deviating mass center design of structure is installed onto the Delta robot system to perform the dynamic analysis by comparing with the symmetric and asymmetric arm. A rigid-body dynamic model of the Delta robot is derived and utilized to calculate of torque profile for trajectory. The preliminary research concludes as follow: (1) The inertia effect of the arm structure can be brought into consideration for trajectory design to achieve higher throughput. (2) T he torque control approach can eliminate the residual vibration in the final stage of the moving motion and leads to faster settling time. However, the dynamic experiment shows the worse performance of the asymmetric arm and needs further research works.
