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	$I_{4}$

Scara Robots

Dynamic Model 1

Number	Parameter	Comments
1	$L_{1}^{2}\cdot M_{2}+I_{1}$
2	$A_{2}^{2}\cdot M_{2}+I_{2}$
3	$J_{2}$
4	$L_{1}\cdot A_{2}\cdot M_{2}$
5	$M_{3}$
6	$g\cdot M_{3}$
7	$I_{4}$
8	$J_{4}$

Delta Robots

Dynamic Model 1

Number	Parameter	Comments
1	$\Theta _{AB}$
2	$g\cdot L_{AB}\cdot M_{AB}$
3	$M_{BC}$
4	$\Theta _{BC}$
5	$M_{P}$
6	$M_{T}$
7	$\Theta _{T}$
8	$\Theta _{T\phi }$
9	$L_{TO}$
10	$L_{TP}$
11	$D$
12	$C_{r}$
13	$Fr_{max}$
14	$R_{ext}$