Design of linear actuated Delta arm based on its full inverse dynamics

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.