本文藉由已發展成熟的各種理論，應用於 Delta並聯式機械手臂的運動學分析、路徑規劃、角度控制與扭力控制 。首先我們會對 Delta並聯式機械手臂進行正向運動學、逆向運動學、最大工作範圍及奇異點的分析，接著為機械手臂做具有平滑動作之路徑規劃，最後利用Lagrange equations方法計算扭矩來設計比例積分微分控制器(PID controller) ，以達到扭力控制之目的。
進而建構出 Delta並聯式機械手臂之實驗機構，此機構由三顆直流馬達驅動，利用LabVIEW軟體，搭配控制器Compact-RIO、馬達驅動模組NI-9505、PWM驅動及角度感測器分別進行角度或扭力控制。實驗部分是利用PID控制加入系統對Delta並聯式機械手臂分別做直線、拋物線、圓三種運動路徑之角度控制與扭力控制，並分別附上實驗數據。
針對 Delta並聯式機械手臂，本文於文末列出了角度控制與扭力控制的優缺點比較及重現性之探討並列舉出了幾項尚需改善的問題與未來發展之建議，本文詳細的分析與整理可為未來深入研究的基礎。

Delta robot has been broadly applied in various industrial applications. Due to the requirements of high speed and high precision, this thesis emphasizes the study of the path planning, the position control and the torque control of the Delta robot based on its kinematics and dynamics. First of all, the forward kinematics, the inverse kinematics, the workspace, and the singularity analysis are studied. Secondly, to complete a specified task, the path planning is performed, and one requires that the initial and final points of the path have zero velocities and accelerations. Thirdly, to fulfill the tracking control, a PID controller is designed and implemented based on kinematics. Fourthly, to reach a high-precision positioning, a torque control is performed based on dynamics, where the relevant formulations are obtained by using the Lagrange’s equation. Finally, three illustrative examples are performed, which are a straight-line motion, a parabolic motion, and a circular motion. Furthermore, the numerical simulations and the experimental work are completed.
Regarding to the experimental work, the entire control system of the Delta robot include three DC motors with encoders, a controller Compact-RIO, and three motor drive modules NI-9505. The controller is incorporated with the software LabVIEW, and the motor drive module includes the PWM drive.
Based on the aforementioned study, this thesis compares the position control and the torque control of the Delta robot, and their advantages and disadvantages are listed. Besides, the end of this thesis highlights several issues to be concerned and some future work.

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