2916 三次元マジックハンドの研究 : 第4報,重力によるたわみの補正(S55 パラレルメカニズムとその応用,S55 パラレルメカニズムとその応用)

概要

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On the super-multi joint manipulator that was able to wind and to expand in a three-dimensional space, the amount of the bending error by the self-weight was calculated. Each unit is assumed to be concentrated mass on the middle line of manipulator, and the sum total of the bend moment is obtained. The compliance of the unit to the bending moment was measured by experiment. The load is put on the top of the manipulator, and hand's position and orientation are measured with CMM. The compliance of unit was assumed by the relation between increasing load and the angle to vertical. This bending error can be corrected by addition the presumed bend displacement to reference input of the position and orientation.
一般社団法人日本機械学会の論文
2007-09-07