著者

山田 泰之 田中 健太郎

出版者

Japan Society of Coordination Chemistry

雑誌

Bulletin of Japan Society of Coordination Chemistry (ISSN:18826954)

巻号頁・発行日

vol.62, pp.12-22, 2013-11-30 (Released:2014-03-20)

参考文献数

62

被引用文献数

1

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In this review, we focus on the integrated assemblies of metal complexes and their functional emergence generated by the synergy effects of π-π stacking interaction and metal complexation. Programmable construction of integrated molecular assemblies is the best measure for bringing out the emergent functions which can be evolved from the intermolecular communications of functional molecular components. Combination of π-π stacking interaction and metal complexation allows not only to reinforce the mutual interactions but also to generate the emergent intermolecular communications. This review introduces the recent studies including the synergy effects on electrical, magnetic, catalytic and molecular recognition functions in soft, crystalline and single molecular materials.

著者

山田 泰之 風間 祐人

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2021 (ISSN:24243124)

巻号頁・発行日

pp.2A1-D08, 2021 (Released:2021-12-25)

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During overhead work, workers need to keep raising up upper limb weights. In that working posture, it is necessary to keep the arm with its own weight of approximately 2 to 4 kg. It is considered to be a cause of fatigue of arms and back. Therefore, in this research, we attempted to reduce the fatigue of the upward work by the weight compensation mechanism that balances the elastic force of the spring and their arms weight. It can compensate for their arms weight by the force of the spring in various postures of the arm at the time of work by using lightweight and highly accurate weight compensation mechanism authors developed. Furthermore, a horizontal multi-linkage mechanism that follows the movement of the shoulder and arm of a human is used. In this way, it is completely pure mechanical and simple structure without a motor and battery, and it can be expected effective in all upward works. The mechanism of self-weight compensation and the degree of freedom and parameters of the link mechanism were studied. For practical use, we discussed how to achieve both a simple structure, work movement followability, and mass productivity.

著者

平田 大貴 山田 泰之 大室 健 森田 寿郎

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集C編 (ISSN:18848354)

巻号頁・発行日

vol.78, no.786, pp.547-556, 2012 (Released:2012-02-25)

参考文献数

11

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This paper proposes a new jumping unit that using chemical energy. Conventional jumping robots have difficulties to equip both lightweight and high output energy at the same time. In regard to this, chemical energy of black powder was adopted. Using explosives allows jumping robots to get high energy instantaneously. First of all, acceleration and velocity characteristics of the cylinder were clarified by experimental cylinder. The approximate expression of pressure change in the cylinder was derived based on the characteristics. Second, expressions of jumping theory were lead and relationships between some parameters (mass, rod-area, cylinder stroke) and jumping height were simulated. Curves with a peak were given from all of those parameters and existence of optimal value was clarified. The significance of the simulation was shown by jumping motion of about 2000mm by the experiment. Finally, four-legged robot dummy with jumping unit that change direction, control of height and isolated ignition were available, is developed. Trajectory of jumping motion was examined when the direction of cylinder was changed from vertical condition. Effectiveness of proposed method was confirmed from jumping height of 720mm with cylinder angle of 10 degree.

著者

長山 尭拓 石原 ひかる 奥井 学 山田 泰之 中村 太郎 名波 正善 岡村 成浩 原 以起

出版者

一般社団法人 日本機械学会

雑誌

年次大会 2016 (ISSN:24242667)

巻号頁・発行日

pp.S1510201, 2016 (Released:2017-06-19)

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To achieve dynamic motion, such as jumping and running, generating large instantaneous force and decreasing impact force at the time of the landing are needed. However, when increasing the instantaneous force of actuators such as motors and hydraulic actuators, the weight of robot also tend to increase. Therefore, in this study, we focused on the variable viscoelastic element with the human muscle. In this paper, we developed a bipedal jumping robot with variable viscoelastic joints. In this robot, we adopted straight-fiber-type artificial muscle as a variable elastic element and the magnetorheological fluid (MR) brake as a variable viscous-friction element. Moreover, we conducted the bending and stretching operation experiment by this robot. In this experiment, we used the experimental parameters which were determined based on human bending and stretching operation. As a result, it was confirmed that this robot realized the bending and stretching operation.

著者

井坂 惠太 只見 侃朗 藤原 杏実 渡邊 友貴 菅澤 誠 山田 泰之 吉田 弘 中村 太郎

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.37, no.4, pp.330-340, 2019 (Released:2019-05-23)

参考文献数

39

被引用文献数

1

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Seabed mineral resources were found on the bottom of the ocean. To utilize these resources, it is necessary to collect and analyze samples. Therefore, we intend to develop a seafloor robotic explorer that can excavate and sample the seafloor soil. In a previous study, we developed a drilling robot and experimentally demonstrated the ability of this robot to produce curved boreholes with a turning radius of 1,670[mm], and a depth of 613[mm] in land environment. However, an underwater excavation has not been successful. It is necessary to improve the gripping torque and to reduce the drilling resistance for underwater excavation. In this paper, we present a propulsion unit with the setae that imitates an earthworm's setae. As a result, the drilling robot succeeded in drilling into the ground while underwater. In addition, we aim to reduce the drilling resistance. We adjusted the penetration speed and the rotational speed of the drilling robot based on the drilling properties of underwater ground. We also consider the shape of the earth auger to reduce the drilling resistance. As a result, we succeeded in reducing the drilling resistance, which both lowered the excavation energy by 39.2% and reduced the completion time.

著者

奥井 学 名倉 裕貴 飯川 伸吾 山田 泰之 中村 太郎

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.48, no.3, pp.17-23, 2017 (Released:2017-07-24)

参考文献数

9

被引用文献数

1

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This paper is concerned with portable pneumatic power source using chemical reaction of sodium bicarbonate and citric acid. Carbon dioxide generated in the chemical reaction is used as the compressed air. Both sodium bicarbonate and citric acid are inexpensive, nontoxic, and readily available. This paper is organized as follows. Firstly, the characteristics of the chemical reaction is surveyed and the appropriate pneumatic power source system is discussed. Secondly, a pressure booster that can achieve a stable air generation system without external power is described. Thirdly, the experiment using the prototype system is conducted to confirm the effectiveness of the proposed method.

著者

山田 泰之 吉浜 舜 岩崎 祥大 芦垣 恭太 松本 幸太郎 羽生 宏人 中村 太郎

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.83, no.850, pp.16-00576-16-00576, 2017 (Released:2017-06-25)

参考文献数

13

被引用文献数

1

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In recent years, the demand for rocket launching has increased due to the development of space technology. However, using inexpensive rockets is not always possible. Although the cost of solid-propellant rockets is relatively reasonable, safely manufacturing a large amount of solid propellant is difficult, and the manufacturing process is disjointed. Therefore, safe and continues manufacturing of solid propellant is necessary. On the basis of the movements of the intestinal tract, we proposed that the movements required for transport and mixing of solid propellants are possible to achieve without the application of a large shear force. The peristaltic motion enables not only the mixing but also conveying even high viscosity slurry. By mimicking these intestinal movements, we have considered and developed the peristaltic pumping by driven artificial muscle as one of the candidates for the continuous and safety mixer. In this research, the mixing completeness of the composite solid propellant slurry by the peristaltic pumping mixer was estimated. The result showed that the mixer we proposed could mix the propellant slurry. In the propellant samples, these variances were sufficiently small. An appropriate combustion state as a solid propellant was confirmed.