指先誘導アクチュエータシステムの開発 : リンクパラメータ較正(知能機械,IIP2004 情報・知能・精密機器部門講演会)

概要

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The authors developed a mental image creation support system, a 3-DOF manipulator for teaching strokes of presented images. It is composed of a 2-DOF quadrilateral parallel-link manipulator and a 1-DOF rotational actuator, the rotational axis of which a knob is attached to. The former is driven by a couple of servomotors and controls the manipulator-arm end position. The latter is driven by a servomotor attached to the manipulator-arm end, and controls the knob orientation. The positioning accuracy of this manipulator is affected according to the manufacture errors of parts, the modeling errors of kinematics, and the attachment errors of servomotors. This paper presents a method of the calibration of parameters of the parallel mechanism, and it was confirmed that the calibration greatly reduced the positioning errors from 10 to 2 mm.
一般社団法人日本機械学会の論文
2004-03-22