Experimental verification of modeling of DELTA robot dynamics by direct application of Hamilton's principle

This contribution presents the experimental verification of the newly developed Hamilton-based dynamic model of DELTA direct drive parallel robot by measurements of DELTA robot's motor torques. The strain gage technology was applied. The experiment is in author's opinion the first ever for robot DELTA. The experimental results validate the modelling of robot DELTA as a system of rigid bodies, connected by frictionless joints. The results obtained from the model based on the direct application of Hamilton's principle in extended space, taking into account the differences between real and desired accelerations, agreed with measurements to at least 5%. The motor torque measuring system may be in future used in force control of DELTA robot.