著者

清水 毅 小尾 誠 遠山 茂樹 古屋 信幸

出版者

公益社団法人精密工学会

雑誌

精密工学会誌論文集 (ISSN:13488724)

巻号頁・発行日

vol.71, no.1, pp.149-153, 2005-01-05

被引用文献数

2 1

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幾何学的不変量を用いた3次元点の測定法について述べている. 一平面上の4点を2組用意し, 各平面において幾何学的不変量を用いて5点目を算出し, 算出した点から直線を出している. 左右画像からそれぞれ直線が計算され, 交点から測定点が計算されている. 幾何学的不変量はアフィン不変量, 射影不変量が用いられ, 実験によって, 射影不変量を用いた場合カメラキャリブレーションを行った場合と同程度の測定精度で測定できることが分かった.

著者

古屋 信幸 相馬 勝男 陳 栄進 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密機械 (ISSN:03743543)

巻号頁・発行日

vol.49, no.7, pp.835-841, 1983-07-05 (Released:2009-07-23)

参考文献数

3

被引用文献数

2 8

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The Selective Compliance Assembly Robot Arm (SCARA) is a newly developed robot for the use of small-lot batch assembly. In the previous report the characteristics of selective compliance effect were discussed and the experimental results on insertion were shown. The robot is controlled by an 8-bit microcomputer. In this report the hardware and the software of the controller are discussed. An arbitrary motion curve similar to a cam curve is used to move arms, and two axes are driven synchronously by the softwared DDA. Thus smooth movement is obtained. The results on repeating positioning accuracy, residual vibration and acceleration characteristics are shown. In spite of utilizing a low level microcomputer, the robot could obtain a sufficient speed up to 0.5 m/s which almost corresponds to the speed of a human operator.

著者

明 愛国 張 同庄 山本 唯司 古屋 信幸 村田 誠 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.55, no.9, pp.1615-1620, 1989-09-05 (Released:2009-10-08)

参考文献数

5

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The spherical SCARA robot is a newly developed robot for the operation on curved surface, especially on a sphere. In the previous report the basic concepts and characteristics are analysed. In this report the construction and specification of the prototype of the spherical SCARA robot are discussed. Then the hardware and software for controlling the prototype are considered. An arbitrary motion curve can be used to move arms and three axes are driven synchronously by the softwared DDA to obtain smooth movement. The methods to obtain large circle path and straight line path on the sphere are shown. It is possible to obtain any other paths by the method, as an example the stitching curve of the baseball is obtained.

著者

明 愛国 古屋 信幸 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.54, no.7, pp.1265-1271, 1988-07-05 (Released:2010-01-27)

参考文献数

5

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A new type robot called “Spherical SCARA (Spherical Selective Compliance Assembly Robot Arm) Robot” for the use of operations on a spherical plane has been developed. The robot has basically three joints (two rotational and one translational). It has the characteristic construction of “selective compliance”, that means, the compliance in the normal direction to the working sphere is small, and which in the tangent plane and for momental force are large. With this construction the robot is adaptable to assembly operations, especially for insertion. In this report basic concepts on the robot are given, and several characteristics (coordinates transformation, singularity, compliance, positioning resolution, dynamics) are discussed.

著者

金 嘯海 古屋 信幸 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.62, no.5, pp.732-736, 1996-05-05 (Released:2009-06-30)

参考文献数

3

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Parallel mechanism is composed of a platform connected to a fixed base by some linear actuators called struts. The kinematic chains of parallel mechanism are driven by these actuators to its base and has high stiffness and low weight so it can realize high speed and accurate positioning ability. The Stewart platform is one of the parallel mechanism. In serial mechanism, the direct kinematics solution is easy, but the inverse kinematics solution is very involved. The other way, in the parallel mechanism the inverse kinematics solution is easy but the direct kinematics solution is very involved. In this paper, a new method named “origami solution” to solve the direct kinematics solution of Stewart platform is proposed and some basic equations in “origami solution” are conducted. This method is based on the “Geneqc.c” which is a computer program to get roots of general equations. In the last, the method is evaluated by some examples of the Stewart platform. The direct kinematics solution is solved in 0.01mm accuracy in about 1 second calculation time by 32 bit computer.

著者

古屋 信幸 牧野 洋

出版者

公益社団法人精密工学会

雑誌

精密機械 (ISSN:03743543)

巻号頁・発行日

vol.46, no.12, pp.1525-1531, 1980-12-05

被引用文献数

1

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新しいタイプの組立用ロボット"SCARA"(selective compliance assembly robot arm)の開発研究を行った, このロボットは二つのアームをもつ多関節型をしており, 選択的コンプライアンス構造を特徴としている。選択的コンプライアンス構造とはz軸方向の力およびx軸, y軸まわりのモーメントに対するコンプライアンスは小さく, x軸方向, y軸方向の力およびz軸まわりのモーメントに対するコンプライアンスは大きくなっている構造のことである。この構造により装入作業を行う場合, 軸は傾くことなく平行に移動し, 受動的に位置決め誤差を修正して速やかに装入を行うことができる。今回の報告は, 選択的コンプライアンス構造をもつ組立機械の特性について述べ, さらに試作された"SCARA"一号機のコンプライアンスの実測結果をもとに, その解析を試みたものである。