Objective:In order to solve the problems of poor accuracy and low efficiency of delta robot in dynamic target grasping in current food production.Methods:A new dynamic target grasping method was proposed for the grasping control of delta robot in food production line. The dynamic position of the target was calculated through the offset of the conveyor belt and the feedback value of the encoder, and the grasping order of the target was optimized. The dynamic target was grasped by combining the door trajectory and the improved trapezoidal acceleration and deceleration algorithm. The control methods before and after optimization were analyzed through experiments.Results:At the conveying speed of 20 mm/s, the missed grasping rate of the robot before and after optimization decreased from 3.33% to 0, and the grasping speed increased from 0.756 s-1to 0.860 s-1. At the conveying speed of 30 mm/s, the missed grasping rate of the robot before and after optimization was reduced from 8.83% to 0, and the grasping speed was increased from 0.885 pieces/s to 1.130 pieces/s.Conclusion:The dynamic target grasping method can effectively improve the grasping efficiency of delta robot.