ワイヤ干渉駆動型超長尺多関節アームSuper Dragonの手先位置決め精度の検討

抄録

Recently, a long-reach multi-joint manipulator is much required for investigation tasks. In our previous work, a new mechanism which is a combination of a coupled tendon-driven mechanism, a weight-compensation mechanism, and synthetic fiber ropes was suggested and a manipulator 10 m in length was demonstrated. This paper focuses on end-point positioning accuracy of the manipulator. Joint angles and an end-point position were measured by potentiometer and a laser scanner, respectively. A position of end-point which was calculated using joint angles was close in a distance of 0.2 m from result of measurement by the laser scanner. In the future, we will conduct controlled experiments for various posture of the manipulator.