{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,8]],"date-time":"2026-01-08T19:37:04Z","timestamp":1767901024968,"version":"3.49.0"},"reference-count":26,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2022,3,20]],"date-time":"2022-03-20T00:00:00Z","timestamp":1647734400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["92148301"],"award-info":[{"award-number":["92148301"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper presents dynamics modeling of a Delta robot with three revolute legs and a telescopic rod. Firstly, two generalized coordinate systems are established to describe the relationship between the movement of the telescopic rod and the position of the moving platform, and the telescopic rod system kinematics are established through singularity analysis. Secondly, taking the telescopic rod as the research object, the corresponding dynamics model is established using the Euler\u2013Lagrange method. Moreover, this paper proposes a method to convert the force exerted by the telescopic rod motion on the moving platform into actuator torques. Thirdly, the dynamics model of the Delta robot with a telescopic rod is established, and numerical simulations are performed to demonstrate this approach. Finally, the influence of the telescopic rod on the actuator torques is verified using an experiment. A comparison is drawn between the two dynamics models used in torque feedforward control to validate the proposed dynamics model.<\/jats:p>","DOI":"10.3390\/robotics11020036","type":"journal-article","created":{"date-parts":[[2022,3,20]],"date-time":"2022-03-20T21:37:17Z","timestamp":1647812237000},"page":"36","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Dynamics Modeling of a Delta Robot with Telescopic Rod for Torque Feedforward Control"],"prefix":"10.3390","volume":"11","author":[{"given":"Sai","family":"Zhang","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Tsinghua University, Beijing 100000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xinjun","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Tsinghua University, Beijing 100000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bingkai","family":"Yan","sequence":"additional","affiliation":[{"name":"Robotphoenix Automation Technology Co., Ltd., Jinan 250000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiangdong","family":"Han","sequence":"additional","affiliation":[{"name":"Robotphoenix Automation Technology Co., Ltd., Jinan 250000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jie","family":"Bi","sequence":"additional","affiliation":[{"name":"Robotphoenix Automation Technology Co., Ltd., Jinan 250000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,3,20]]},"reference":[{"key":"ref_1","unstructured":"Clavel, R. 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Model based control of 3 DOF parallel delta robot using inverse dynamic model. Proceedings of the 2017 IEEE International Conference on Mechatronics and Automation (ICMA), Takamatsu, Japan.","DOI":"10.1109\/ICMA.2017.8015814"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"104004","DOI":"10.1016\/j.mechmachtheory.2020.104004","article-title":"Vibration reduction of delta robot based on trajectory planning","volume":"153","author":"Wu","year":"2020","journal-title":"Mech. Mach. Theory"},{"key":"ref_20","first-page":"90","article-title":"Dynamics Modeling and Control of a Delta High-speed Parallel Robot","volume":"13","author":"Kim","year":"2014","journal-title":"J. Korean Soc. Manuf. Process Eng."},{"key":"ref_21","first-page":"1","article-title":"Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots","volume":"2020","author":"Liu","year":"2020","journal-title":"Math. Probl. 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