著者

薮崎 清・ヒベルト 岩田 一明 荒井 栄司 小野里 雅彦

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.61, no.584, pp.1734-1739, 1995-04-25

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Computer representation of the product object is necessary for realization of concurrent engineering. This representation should be determined cooperatively by design and production departments using communication systems. This paper describes minimum design and production criteria to meet requirements and functions for modelling. The authors propose one method for representation of the product object, using object-oriented programming and an object-oriented database management system. Reliable data for this product object representation were obtained by interviewing several experienced designers and manufacturing engineers and through a literature search. Then, the authors developed a prototype and verified the validity. Based on a simple design experiment, the possibility of realizing human-centered concurrent engineering was clarified.

著者

若松 栄史 妻屋 彰 荒井 栄司 平井 慎一

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 = Journal of Robotics Society of Japan (ISSN:02891824)

巻号頁・発行日

vol.24, no.4, pp.523-532, 2006-05-15

被引用文献数

3 3

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A planning method for knotting and tightening of deformable linear objects is proposed. Firstly, we briefly explain crossing state description and basic operations corresponding to crossing state transitions. Possible sequences of crossing state transitions, that is, possible manipulation processes can be generated once the initial and the objective states are given. Secondly, a method to determine grasping points and their moving direction is proposed in order to realize derived manipulation processes. Then, it is theoretically found that any knotting manipulation of a linear object placed on a table can be realized by an one-armed robot with three translational DOF and one rotational DOF. Thirdly, a planning method for tying tightly is established to complete a knot because the knot fulfills its fixing function after it is tightened. Finally, it is demonstrated that an one-armed robot system can plan and execute tying and tightening a slipknot.

著者

森永 英二 下村 幸弘 若松 栄史 荒井 栄司 中村 昌弘

出版者

一般社団法人 日本機械学会

雑誌

年次大会

巻号頁・発行日

vol.2018, 2018

著者

明石 一希 森永 英二 若松 栄史 倉橋 龍 荒井 栄司

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.853, pp.17-00084-17-00084, 2017 (Released:2017-09-25)

参考文献数

10

被引用文献数

2

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With recent globalization in industries, the number of failures and troubles of products caused by using them in unexpected ways has increased. In order to avoid such troubles, it is necessary not only to assume various ways of use thoroughly, but also to verify whether the design plan can fulfill required functions when the product is utilized in those ways. From this point of view, the authors proposed a functional verification method considering ways of use based on qualitative modeling of behavior of entities and cause-and-effect relationships among physical phenomena using Petri nets. It is, however, impossible to detect failures concerning to specification which requires dealing with quantitative information. This paper provides a method for quantitative modeling of behavior of entities and cause-and-effect relationships among physical phenomena. Two types of tokens were defined for dealing with positive and negative values and four types of arcs were for controlling changes of those values. These new elements of Petri net made it possible to represent behavior of entities and cause-and-effect relationships quantitatively. Application of this new modeling method to the functional detection method enables automatic detection of failures concerning to both functions and specification. The detection method using this modeling method was applied to an example, and its effectiveness was proven.

著者

小粥 雅貴 若松 栄史 森永 英二 荒井 栄司 島田 茂樹 眞鍋 賢

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.80, no.814, pp.TRANS0141-TRANS0141, 2014 (Released:2014-06-25)

参考文献数

12

被引用文献数

1

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In this paper, a prediction method of the maximum principal strain of a core/shielding wire contained in a coaxial cable, which is related to the life-cycle of the wire, is proposed. If the central axis of a wire is assumed to be twisted around a virtual cylindrical surface when a coaxial cable is straight and a virtual toroidal surface when the cable is bent, the shape of the wire can be described by the first and the second fundamental form of their surfaces in the differential geometry. The potential energy of the wire, which is bent, twisted, expanded, and/or contracted, is also formulated based on the differential geometry. Friction of the wire against the virtual surface is modeled as a virtual spring in the circumferential direction of the surface and its elastic energy is included in the total potential energy of the wire. Then, the stable shape of the wire can be computed by minimizing its total potential energy under geometric constraints. After that, the maximum principal strain is estimated from the shape of the wire. As a result of simulation, it was founded that a core wire is broken by bending fatigue before the shielding wire is if they have the same radius and rigidity.

著者

森安 竜大 若松 栄史 森永 英二 荒井 栄司 島田 茂樹 眞鍋 賢

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.30, no.8, pp.813-821, 2012 (Released:2012-11-15)

参考文献数

19

被引用文献数

1

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A modeling method to represent bending/torsional deformation of an electric wire is proposed based on the differential geometry. A twisted wire called a robot cable is used in a prismatic/rotational joint of an industrial robot to transmit signals or electric power. It is composed of a twisted bunch of several strands of many copper wires. The copper wire may be cracked by repeated bending/torsional deformation associated with the movement of a joint and such crack leads to wiring disconnection. To predict the life-cycle of the wires and to prevent such wiring disconnection, it is required to estimate deformation of not only the strands but also the copper wires when the wire is bent/twisted. In this paper, the deformed shape of a wire, which corresponds to a twisted bunch of n strands, is described by 3+2n independent variables and can be derived by minimizing the potential energy of each strand under various constraints. As the relationship between copper wires and their strand is similar with that between strands and their twisted bunch, the deformed shape of each copper wire can be also derived with the same method.