著者

森田 寿郎

出版者

バイオメカニズム学会

雑誌

バイオメカニズム学会誌 (ISSN:02850885)

巻号頁・発行日

vol.30, no.4, pp.200-204, 2006 (Released:2008-06-10)

参考文献数

11

被引用文献数

8 4

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空間内で姿勢変化する多関節リンク機構について,関節の自重トルクを完全に補償する機構の設計原理および動作支援技術への応用方法を解説した.その要点は,平行リンクを用いた姿勢変化と自重トルクの非干渉化,ばねを用いた正確な自重補償トルクの発生,3軸が直交する関節モジュールの設計方法から成っている.機構の応用事例として,4自由度垂直多関節マニピュレータとトルク補償型肩装具の構成方法と評価結果を紹介した.自重補償を備えたマニピュレータが先端リンク姿勢に依存せずに正確な補償トルクを発生できること,従来型マニピュレータと比較して,可搬重量,最大速度,最大加速度の全てにおいて高い性能が得られることを示した.装具については,日常生活動作に必要な可動域を満たしていること,挙上動作時の三頭筋・僧帽筋の活動が有意に減少すること,肘の自由な運動を損なわずに食事動作を補助できることを示した.

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

櫻 哲郎 森田 寿郎 植田 一博

出版者

ヒューマンインタフェース学会

雑誌

ヒューマンインタフェース学会論文誌 (ISSN:13447262)

巻号頁・発行日

vol.11, no.3, pp.255-264, 2009-08-25 (Released:2019-09-04)

参考文献数

21

被引用文献数

1

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"Bunraku" is Japanese traditional theater that consists of three elements; music by a shamisen player, story by a narrator "Tayu" and Bunraku puppet drama. Each Bunraku puppet is manipulated by three puppeteers. Nonverbal information that one of three puppeteers "Omo-zukai" (the main puppeteer)use, make myriad and realistic movement of Bunraku puppet possible. The information is called "Zu". It is estimated that the nonverbal information "Zu" contain the factor to enable realistic cooperative manipulation by multiple persons. The aim of this research is to determine the mechanism of cooperative manipulation in Bunraku. In this paper, feature of Bunraku puppet movement was extracted by focusing attention on "Hodo" (a part of "Zu"). And relationship of Extracted feature to movement of "Hidari-zukai" (the left puppeteer) that follows movement of "Omo-zukai", was analyzed. According to the result, it has been found that movement of "Hidari-zukai" is composed of three phases.

著者

森田 寿郎

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.77, no.8, pp.751-754, 2011-08-05 (Released:2012-02-07)

参考文献数

2

著者

山縣 広和 森田 寿郎

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.33, no.3, pp.181-188, 2015 (Released:2015-05-15)

参考文献数

12

被引用文献数

2 4

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This paper proposes underwater robots suitable for teaching materials for learning basic mechanics. Recently various robots for teaching materials have been used to educate future engineers. However, the ground based robots are limited due to the size of the contest rules, mechanics are left behind at the workshop. Thus, robots for teaching materials which mechanics have significant influence on solution to the target problem are desired. The authors have focused on underwater robot, because water causes large effect in terms of equilibrium between forces, even to small robots. We developed new teaching materials of underwater robot “Mark1” for junior high school students and held a workshop on a trial basis. We send out questionnaires and evaluated their answers by checklists. As a result, this workshop obtained a large training effect for education of basic mechanics. Then, underwater robot “Mark3” was developed for more advanced students. Mark3 had extensibility and was able to satisfy the needs of students. From the above, It was confirmed that the proposed underwater robots were useful for learning basic mechanics.

著者

櫻 哲郎 森田 寿郎 植田 一博

出版者

ヒューマンインタフェース学会

雑誌

ヒューマンインタフェース学会論文誌 (ISSN:13447262)

巻号頁・発行日

vol.11, no.3, pp.255-264, 2009-08-25

参考文献数

21

被引用文献数

2

著者

金田 一輝 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 (ISSN:21879761)

巻号頁・発行日

vol.83, no.856, pp.17-00297-17-00297, 2017 (Released:2017-12-25)

参考文献数

7

被引用文献数

3

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This study aims at realization of passively adjustment of compensation force generated by Mechanical Gravity Canceller (MGC). If an object attached to MGC is changed, it needs to adjust spring force for accurate balance. In the previous studies, self-tuning load compensable mechanism for MGC is developed. The mechanism can compensate torque of both manipulator's weight and load by using springs. However, the mechanism has a weak point that is necessary to rehang the spring as the load changes. More energy is required to rehang the spring than to lift the object which isn't compensated. For a solution of this problem, a passive adjustment mechanism is developed. The passive adjustment mechanism has two springs. One of the springs (spring 1) compensate its weight and another spring (spring 2) compensate load. Then spring 2 weigh load by changing displacement and the displacement change the compensation force of spring 2 passively. Therefore, the passive adjusting Mechanism can compensate its weight and arbitrary load completely. Moreover, to improve safety, the mechanism applies to an up-and-down system of the arbitrary load. The testing machine realizing proposed mechanism is 19 kg and can compensate from 0 kg to19 kg arbitrary load. Relative errors of compensation power of the machine are under 10 % and relative charged energy converges 10.5 % as increasing weight of load.

著者

森田 寿郎

出版者

早稲田大学

巻号頁・発行日

1998

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制度:新 ; 文部省報告番号:甲1294号 ; 学位の種類:博士(工学) ; 授与年月日:1998-10-15 ; 早大学位記番号:新2683 ; 理工学図書館請求番号:2253

著者

櫻 哲郎 森田 寿郎 植田 一博

出版者

一般社団法人 日本デザイン学会

雑誌

日本デザイン学会研究発表大会概要集 日本デザイン学会 第56回研究発表大会

巻号頁・発行日

pp.A16, 2009 (Released:2009-06-16)

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伝統芸能文楽では,3人の人形遣いが1体の人形を操作し,多彩な動作を実現している.本研究ではこの協調操作技術のメカニズム解明を目指し,合図となる非言語情報“ほど”に着目した動作解析を行った. まず人形の構造・操作方法について調査を行い概要を把握した.“ほど”とは操作の主導権を握る主遣いが 動作開始時に“型”と呼ばれる動作パターンや,動作の大きさ・速さなどの情報を他の人形遣い(左・足遣い)に伝達する合図と言われている.“ほど”を含む人形各部位の位置姿勢情報を計測するため,磁気式センサ内蔵型文楽人形を製作した.実機を用いて現役の人形遣いによる演技の計測実験を行った.得られた主遣いの操る右手と,左遣いの操る左手の速度情報に対しウェーブレット解析による位相解析を行った.結果“型”動作は3つの動作要素に分けられ,主遣いに対し左遣いが高い追従性を持つ動作要素の前に,主遣いが先行する“ほど”にあたる動作要素が発見された. 以上より,人形の協調操作において,主遣いの動作中に含まれる“ほど”と呼ばれる動作要素が,左遣いの動作追従を促し,人形全体の協調動作を実現していることを明らかにした.

著者

森田 寿郎

出版者

バイオメカニズム学会

雑誌

バイオメカニズム学会誌 = Journal of the Society of Biomechanisms (ISSN:02850885)

巻号頁・発行日

vol.30, no.4, pp.200-204, 2006-11-01

参考文献数

11

被引用文献数

2 4

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空間内で姿勢変化する多関節リンク機構について,関節の自重トルクを完全に補償する機構の設計原理および動作支援技術への応用方法を解説した.その要点は,平行リンクを用いた姿勢変化と自重トルクの非干渉化,ばねを用いた正確な自重補償トルクの発生,3軸が直交する関節モジュールの設計方法から成っている.機構の応用事例として,4自由度垂直多関節マニピュレータとトルク補償型肩装具の構成方法と評価結果を紹介した.自重補償を備えたマニピュレータが先端リンク姿勢に依存せずに正確な補償トルクを発生できること,従来型マニピュレータと比較して,可搬重量,最大速度,最大加速度の全てにおいて高い性能が得られることを示した.装具については,日常生活動作に必要な可動域を満たしていること,挙上動作時の三頭筋・僧帽筋の活動が有意に減少すること,肘の自由な運動を損なわずに食事動作を補助できることを示した.

著者

大室 健 森田 寿郎

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.76, no.766, pp.1503-1513, 2010-06-25

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Movable structures can change their shape because each of the components are connected by hinges. This paper discussed a mechanism design method that can relocate hinges based on a fourbar linkage mechanism. In this paper, "structural fabric" is defined as the arrangement of the hinges, and "shape" is also defined as the structural externals made from the arrangement of the hinges. By this definition, changes of the shape by the hinge's angle without changing the hinge arrangement is different from changes in the structural fabric. On the other hand, origami can transform by changing its structural fabric because it can freely relocate creases as hinges. However, there have been no rigid body structures that have origami-like characteristics, since there has been no mechanism that can relocate hinges. So we have designed HDRM (Hinge Double Relocation Mechanism) which can relocate hinges, and have constructed movable structures by combining the HDRM. Contents of this paper is as follows; First, a mechanism design requirement that can relocate hinges by the planar linkage have became clear. The design requirement has been expanded to spatial linkage mechanisms which have been named HRM (Hinge Relocation Mechanism), through the mechanical analysis of the spherical quadric crank chain mechanism. Next, the HDRM that relocates hinges in a singular configuration has been invented by adapting the mentioned requirement. The requirement of making movable structures from HDRM has been cleared by solving the Hamiltonian path problem. Finally, from evaluations using kinematical and interference analysis on the 3D-CAD, it has been confirmed that the constructed movable structures can change into various shapes by changing the structural fabric.

著者

大木 知彦 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.79, no.804, pp.2758-2768, 2013 (Released:2013-08-25)

参考文献数

32

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Wheels have high movement efficiency, simple structures and low cost. So various wheeled mechanisms are used in the living space. However, wheels have low traveling performance. Therefore, there are areas that wheeled mechanism can't move in. In order to solve this problem, various movement mechanisms are developed. Yet, they have many problems. For example, complicate, heavy, large, expensive, and so on. Because of these reasons, the spread of these movement mechanisms are blocked. Then, we propose TFW that have high performance of driving on level surface and traveling over a single step. Movement mechanisms that are equipped with TFW can travel over steps that conventional wheeled vehicle can't travel over. Consequently, we showed that TFW have high performance movement mechanism of level running and traveling over steps by experiments with a vehicle “SRIDER-II”.