2916 A Study on 3D Magic-Hand : 4th report, Correction of Bending Error by Gravity
Details
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.
