5 0 0 0 OA サイクロイドボール減速機の基礎解析(第5報)
- 著者
- 寺田 英嗣 今瀬 憲司
- 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.75, no.12, pp.1418-1422, 2009-12-05 (Released:2011-02-07)
- 参考文献数
- 8
- 被引用文献数
- 7
The motion of a two stage type Cycloid Ball Reducer is analyzed. The fundamental reduced element of this reducer consists of three components; two surface grooved discs and a train of balls. One of the discs has an epi-trochoidal wave groove on one side surface while other disc has a hypo-trochoidal wave grooves. These grooves are just like a grooved cam mechanism. Also, they are arranged face-to-face with each other, and balls are located which transmit the torque between these discs. Especially, to eliminate the eccentric excitation which is caused by eccentric motion, this newly proposed mechanism has the special transmitting element which locates between the fundamental reduced elements. In this paper, the motion principle is analyzed using the polar complex vectors analysis. Also the design parameters are investigated. It is proved that the proposed reducer has a constant velocity rotation characteristic in motion principle. Then using the prototype reducer, the positioning accuracy and the backlash characteristic have been verified.
- 著者
- 寺田 英嗣 牧野 洋 今瀬 憲司
- 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.63, no.11, pp.1609-1613, 1997-11-05
- 参考文献数
- 5
- 被引用文献数
- 2 2
It is important to eliminate the backlash and to reduce inertia for high accuracy linear motion system. For this reason, the trochoid cam rack has been developed. The profile undercut must be avoided to satisfy the required performance. So this rack profile is ground using trochoid curve loci. In this report, the motion principle has been analyzed, and it becomes clear that there is the optimal value of rack profile offset factor which affects on pressure angle and radius of curvature. Also, roller diameter and tooth height affects on those characteristics. The optimal cam rack without profile undercut is designed using the selected each design factor. The prototype cam rack system using optimal design value is made and tested. It is proved that the system has high positioning accuracy without backlash.
1 0 0 0 球面スカラロボットの制御ソフトウェアの研究
1 0 0 0 ビジョンを用いたロボットピッキングの研究
1 0 0 0 マルチロボットシステムの制御に関する研究
1 0 0 0 OA サイクロイドボール減速機の基礎解析 (第1報)
- 著者
- 寺田 英嗣 牧野 洋 今瀬 憲司
- 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.11, pp.2101-2106, 1988-11-05 (Released:2009-10-08)
- 参考文献数
- 3
- 被引用文献数
- 1 12
A newly developed Cycloid Ball Reducer is introduced and analyzed. The fundamental element of the reducer consists of three components ; two surface-grooved discs and a train of balls. One of the discs has an epicycloidal-wave groove on one side of its surface, while the other disc has a hypocycloidal-wave groove. The two grooves face each other, and between them balls are arranged in a uniform angular pitch. The balls transmit torque between the two discs. A proper amount of thrust force is applied axially to eliminate backlash. This Cycloid Ball Reducer is suitable for application to servo mechanisms and robots. It is compact and easy to build in a unit, and has a large torque capacity. In this report, the principle of the reducer is analyzed using polar complex vectors. It is proved that the reducer has linear characteristics in principle. The reduction ratio can be chosen a wide range.
1 0 0 0 OA 直動形トロコイド歯車の基礎解析(第1報)
- 著者
- 寺田 英嗣 牧野 洋 今瀬 憲司
- 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.63, no.11, pp.1609-1613, 1997-11-05 (Released:2009-06-30)
- 参考文献数
- 6
- 被引用文献数
- 2
It is important to eliminate the backlash and to reduce inertia for high accuracy linear motion system. For this reason, the trochoid cam rack has been developed. The profile undercut must be avoided to satisfy the required performance. So this rack profile is ground using trochoid curve loci. In this report, the motion principle has been analyzed, and it becomes clear that there is the optimal value of rack profile offset factor which affects on pressure angle and radius of curvature. Also, roller diameter and tooth height affects on those characteristics. The optimal cam rack without profile undercut is designed using the selected each design factor. The prototype cam rack system using optimal design value is made and tested. It is proved that the system has high positioning accuracy without backlash.
1 0 0 0 OA ローラチェーン用トロコイドスプロケットの基礎解析(第1報)
- 著者
- 寺田 英嗣 石田 和義 地場 広幸 牧野 洋 入江 禀三
- 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.67, no.11, pp.1829-1833, 2001-11-05 (Released:2009-04-10)
- 参考文献数
- 7
- 被引用文献数
- 1
Trochoidal sprocket for roller chain drive system has been developed which is used for a positioning mechanism. This system consists of a conventional roller chain and a pair of trochoidal sprockets. These sprockets are generated using trochoidal loci, which the tooth profile is shifted. Especially, the developed system can eliminate backlash In this report, the kinematical tooth profile conditions are analyzed. Also a prototype of a trochoidal sprocket is constructed using the optimal values and is tested for the positioning performance. It is proved that the positioning performance can be improved using the developed sprockets, compared with the case of using conventional one.
1 0 0 0 OA 風呂敷包み作業用マルチロボットシステムの運動計画法
- 著者
- 寺田 英嗣 輻形 和幸
- 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.76, no.5, pp.546-551, 2010-05-05 (Released:2010-11-05)
- 参考文献数
- 8
- 被引用文献数
- 1 6
The motion planning approach of a multi-robot system for the “Furoshiki” wrapping operations has been newly developed. This approach considers the loci of the handling points for the wrapping and the tying of the sheet. Especially, to avoid the complex motion of tying at the “Mamusubi” operation, the newly approach has been proposed. This approach divides the crossing operation into the two motions. The one is the 2-dimensional motion and the other is the wrapped object rotation around vertical axis. Also, this multi-robot system consists of the two handling robot arms, the shifting operation robot arm and the rotating mechanism for the wrapped object. The handling robot arms consist of a 2-DOF SCARA type robot and a 1-DOF linear motion system. And the shifting operation robot arm is the 3-DOF SCARA type robot which can adjust the pose of the End-effector. In this report, the proposed approach is verified using a prototype robot system. And it is confirmed that the testing rectangular object can be wrapped and tied the desired shape.