@inproceedings{0ca0fe7925d74cda97b645730fa778d2,
title = "Design of linear actuated Delta arm based on its full inverse dynamics",
abstract = "Delta arm is one of the best mechanisms to achieve high speed capability with its compact size. This paper discusses the derivation of full inverse dynamics of linear actuated Delta arm and its application to the arm design. The linear stepping motor is introduced since it is more cost effective than typically used AC servo motors. In order to make the best use of the actuator characteristics the required force should be analyzed precisely through the inverse dynamics. The linear motion profile is assumed in the workspace, and then the required force-speed profile is verified in the motor characteristic chart. Design examples are also shown to demonstrate the proposed method.",
keywords = "Delta arm, Parallel mechanism, force-speed characteristics, inverse dynamics, linear actuator",
author = "Tatsuo Arai and Yasuto Shiigi and Yoshimasa Endo and Masaki Nagatsuka",
year = "2012",
doi = "10.1109/ICMA.2012.6283234",
language = "English",
isbn = "9781467312776",
series = "2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012",
pages = "737--742",
booktitle = "2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012",
note = "2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 ; Conference date: 05-08-2012 Through 08-08-2012",
}