Dynamic Models

Traverse Arm Robots

Dynamic Model 1

Number	Parameter	Comments
1	$M_{1}+M_{2}$
2	$A_{2}\cdot M_{2}$
3	$A_{2}^{2}\cdot M_{2}+I_{2}$
4	$M_{3}$
5	$g\cdot M_{3}$
6	$I_{4}$

Delta Robots

Dynamic Model 1

Parameter	DynamicModel = 1
1	$\Theta _{AB}$
2	$g\cdot L_{AB}\cdot M_{AB}$
5	$M_{BC}$
6	$\Theta _{BC}$
7	$M_{P}$
8	$M_{T}$
9	$\Theta _{T}$
10	$\Theta _{T\phi }$
13	$L_{TO}$
14	$L_{TP}$
15	$D$
16	$C_{r}$
17	$Fr_{max}$
18	$R_{ext}$