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.

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

---

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

仇 時雨 牧野 洋 須田 大春 横山 恭男

出版者

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.8, no.6, pp.680-687, 1990-12-15 (Released:2010-08-25)

参考文献数

9

被引用文献数

2 3

---

This paper describes the study on free curve interpolation using Clothoidal curve, which gives a new tool for high-speed continuous path control. Control schemes are proposed for the manipulator to pass the given series of points smoothly at a constant-speed. In the problem formulated a criterion of limiting curvature during the entire path of motion. The Clothoid or Cornu spiral is a planar curve which is used in high-way design. Its curvature is proportional to the length of the curve measured from the origin of the spiral. Using Clothoid segments, the point series interpolation method is established and by applying this method to the welding, painting, sealing and bonding robots, it is expected to obtain the faster continuous path motion. Theoretical analysis is given and some calculated results are shown.

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

---

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 清水 晃 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.60, no.1, pp.91-96, 1994-01-05 (Released:2009-06-30)

参考文献数

3

---

A robot machining system for industrial art objects has been developed. The objective of the system is both to make good use of technical skill of artist or artisan, and to realize the automation of machining of industrial art objects. The developed system is composed of three units: (i) input unit to record the machining data of artist or artisan directly, or to measure the model of an industrial art object; (ii) data processing unit to generate and modify model from the input data, and to transform model data into machining data; (iii) machining unit to machine industrial art objects according to obtained machining data. In this paper, the general philosophy about the system is given, and the construction of developed system, design policy and functions of each unit are described. An example of machining experiments is given to show the practical availability of the system.

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.

著者

蘭 豊礼 玉井 博文 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.76, no.10, pp.1194-1199, 2010-10-05 (Released:2011-04-05)

参考文献数

9

被引用文献数

2 10

---

This paper describes trajectory design using clothoid segments. As a trajectory path, clothoid is superior to the other curves because its curvature varies linearly with its curve length. However, a single clothoid segment is not able to match both tangent and curvature designation at its terminals because it has no sufficient parameters. In our study, “triple clothoid” is introduced to match both tangent and curvature designations. The triple clothoid is a set of three clothoid segments connected internally with curvature continuity. It has sufficient parameters needed for tangent and curvature matching at its terminals. The triple clothoid segments are used to construct a smooth transition passing through arbitrary point sequence. The resultant trajectory possesses curvature continuity and matches all tangent and curvature designations at the giving points. Those results are extended from two-dimensional (2D) to three-dimensional (3D) space. In 3D space, a predefined 3D clothoid is used to construct triple 3D clothoid. The resultant 3D trajectory also possesses kinematical superiority because of its differential linearity in both pitch and yaw angles. The triple clothoid can also be used for connecting two straight segments with curvature continuity.

著者

王 樹華 明 愛国 牧野 洋 清水 晃

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.60, no.4, pp.544-548, 1994-04-05 (Released:2009-06-30)

参考文献数

5

---

A teaching robot has been developed for the purpose of sophisticated teaching operations, such as to input technical skill of artist or artisan when machining industrial art objects. To realize easy operation, the teaching robot is constructed with a seven D.O.F. articulated mechanism and a two D.O.F. working table, in total has nine D.O.F. To improve teaching accuracy, error analysis and calibration for all geometric parameters are performed. As the results of experiments, an accuracy of 0.75mm(±3σ) by the teaching robot has been obtained. In this paper, error analysis of the teaching robot and geometric error model of it are discussed. Calibration algorithm and accuracy estimation are described also. Finally, an example of teaching and playback is shown.

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

---

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

蘭 豊礼 玉井 博文 三浦 憲二郎 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.78, no.7, pp.605-610, 2012-07-05 (Released:2013-01-05)

参考文献数

20

被引用文献数

2 1

---

In two-dimensional(2D) space, the clothoid is a preferred trajectory curve because its curvature varies linearly with its curve length. However, in three-dimensional(3D) space, both curvature and torsion must be considered. This paper deals with path generation using linear curvature and torsion segments which can be considered a 3D extension of the 2D clothoid. In our study, the path segments are generated by solving the Frenet-Serret equation. In every path segment, its curvature and torsion varies linearly with its curve length. In order to obtain more free parameters, plural curve segments are connected in series to make a compound curve. The curve is used to connect two given points which may have given Frenet-Frame, curvature and torsion constraints. These curves are also used to construct a smooth transition passing through an arbitrary point sequence. The resultant path possesses C2 as well as torsion continuity and matches all given Frenet-frame, curvature and torsion constraints at the given points.

著者

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.71, no.10, pp.1223-1223, 2005-10-05 (Released:2009-04-10)

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

---

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

汐崎 勤 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.45, no.530, pp.148-153, 1979-02-05 (Released:2009-06-30)

参考文献数

3

---

It is frequently observed that a PTP (point-to-point) robot shows unexpected singular motion in case of large displacement. This is because of the controlling method used whichattempts to give the maximum speed to any axis. In this report another method of controllingis proposed, which gives the same motion characteristics to all axes in the same period, justlike as cam-controlled. Computer simulation has proved that the resultant hand motion isvery similar to the given axes motion, and the motion locus is smooth and has no singularityby utilizing this method.

著者

牧野 洋平 三田 長久 東谷 幸治

出版者

一般社団法人電子情報通信学会

雑誌

電子情報通信学会総合大会講演論文集

巻号頁・発行日

vol.2007, no.1, 2007-03-07

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

---

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。

著者

牧野 洋 関戸 政義 山田 渉 佐々木 毅 西田 満生 今井 厚之助 塚原 純 一ノ瀬 雄三 古村 斉茂 竹内 永一 西郷 達治 清原 洋一 山田 信治 神保 泰雄 小滝 富雄 山口 隆二 仙田 修 松島 信雄 白崎 雄三

出版者

一般社団法人日本時計学会

雑誌

日本時計学会誌 (ISSN:00290416)

巻号頁・発行日

no.115, pp.54-66, 1985-12-20