著者

武田 行生 舟橋 宏明 中嶋 一貴

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.65, no.630, pp.844-849, 1999-02-25

被引用文献数

6

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This paper proposes a new index for performance evaluation of robotic manipulators from the point of view of high speed positioning. The proposed index is defined by the ratio of the positioning time realized by a manipulator for a set of starting position and desired position under a certain load condition and the minimum positioning time which is determined by the capacity of the actuators equipped with the manipulator. The results of computer simulations and experiments of evalution of the spatial inparallel actuated manipulator with six degrees of freedom developed by the authors have been presented. Comparisons of the proposed index with the transmission index and the adept motion cycly time have been presented. Through these results, effectiveness of the proposed index has been clarified.

著者

安井 位夫 舟橋 宏明 河辺 佳子 小野塚 英明

出版者

日本図学会

雑誌

図学研究 (ISSN:03875512)

巻号頁・発行日

vol.26, no.2, pp.3-9, 1992 (Released:2010-08-25)

参考文献数

8

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A new character processing system has been developed in order to freely generate various style of characters on a personal computer. Center lines of each stroke of a letter are extracted from the bitmap data of the kanji ROM and the lines are expressed by equations of interpolation curves. Widths of strokes are classified and expressed by several function of the distance along the center line from its starting point. Because characters have been expressed by the equations of center lines and widths of strokes, arbitrary styles can be easily generated, which has been demonstrated by using Ming-style font.

著者

樋口 勝 舟橋 宏明 武田 行生

出版者

一般社団法人 日本機械学会

雑誌

機素潤滑設計部門講演会講演論文集

巻号頁・発行日

vol.2001, pp.139-140, 2001

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We have already proposed a disk brake for robotic use in which the braking torque is generated both by PZT-actuator and solenoid. The action of the solenoid is transmitted to friction pads through a wedge mechanism. In order to make clear the relation between manufacturing accuracy and application force of the brake, dynamic simulations and experiments have been carried out. And the result of this analysis has been utilized in designing a small and light brake.

著者

武田 行生 舟橋 宏明

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:03875024)

巻号頁・発行日

vol.59, no.560, pp.p1142-1147, 1993-04

被引用文献数

8

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When all input links, except one, are fixed in a mechanism of parallel manipulator with N degrees of freedom (dof), N kinds of mechanisms with a single dof can be obtained, and pressure angles corresponding to each mechanism can be defined. In order to transmit power efficiently from input links to the output link, all of the values of cosines of the pressure angles must be as big as possible. Then, the present paper proposes a new transmission index (TI) for parallel manipulators based on the power transmitted from input links to the output link, which is defined as the minimum value of cosines of the pressure angles. For planar and spatial parallel manipulators, static force analyses are carried out, and the relationships between TI and joint forces are studied. Working spaces of parallel manipulators with consideration of motion transmissibility are also shown.

著者

武田 行生 舟橋 宏明 村松 伸幸

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.62, no.599, pp.2920-2926, 1996-07-25

被引用文献数

2

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This paper proposes an architecture of a planar in-parallel actuated manipulator with three degrees of freedom which is composed of the positional mechanism and the orientational chain. Kinematic synthesis is carried out to maximize the practically dextrous working space (PD working space) in which motion transmissibility is excellent and any orientatinon angle of the output link can be obtained. The size of working space and range of output orientation of the synthesized mechanism are compared to those of the mechanisms in the literature, and the results show that the synthesized mechanism has a large PD working space.

著者

舟橋 宏明 小川 潔 氏原 紀雄

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 (ISSN:00290270)

巻号頁・発行日

vol.43, no.370, pp.2334-2342, 1977-06-25