Abstract: Using a Delta robot in a high-speed transportation environment has the advantages of low working efficiency and poor stability. We propose a dynamic feasible region velocity planning method with acceleration constraints based on time-optimal trajectory planning (TOPP-RA) and reachability analysis to solve time-optimal velocity planning under dynamic constraints. We adjust the global grid point velocity planning of TOPP-RA to the local grid point dynamic velocity planning, eliminate the bias torque of the Delta robot dynamic model, convert the torque constraint into an acceleration constraint, achieve self-adjusting acceleration, and complete the dynamic feasible region velocity planning. Experiments show that dynamic feasible region velocity planning can achieve global optimal results with a single solution of only 0.015 s, and safe, stable, and efficient time-optimal control of the robot under joint torque constraints through acceleration self-adjustment.