著者
河村 隆 山藤 和男 小林 剛
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.57, no.544, pp.3895-3900, 1991-12-25
被引用文献数
4

The authors developed a 3D moving robot 'ROBOT CAT' which could control its posture in the air and could perform soft landing. This paper describes the control method of the ROBOT CAT and the experimental results. An animal cat can control its body by turning motion when released upside down from a high place. In order to realize this turning motion, the ROBOT CAT was consisted in two parts (anterior and posterior body) connected with a flexible backbone which has two degrees of freedom of motion. The backbone proposed in this paper operates on two pairs of artificial rubber muscles driven by compressed air. It is possible that this motion is applied to the posture control of astronauts and space structures.
著者
濱島 京子 柿倉 正義
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.63, no.607, pp.967-974, 1997-03-25
被引用文献数
14

Research on labor saving and automation of housework by robots is proceeding rapidly due to the increasing population of aged persons and improved electronics in houses. The special problems concerning housework robots are the enormous complexity of the working environment and huge number and variety of objects in a house. Therefore the recognition function of the robot is desired to be highly independent of the working environment. Moreover, the robot should be able to treat various kinds of "nonsolid-form objects" in a house. The object of this research is to develop the technology by which a robot can handle nonsolid-form objects, particularly clothes. The final goal of the research is the creation of a housekeeping robot which can put unarranged clothes into order at a specified place. Some of the concrete subtasks of this job are taking out one form of clothes and expanding, classifying, folding and putting it in the specified place. In this paper we propose a planning strategy for the task of the unfolding clothes.
著者
野島 武敏
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.67, no.657, pp.1669-1674, 2001-05-25
被引用文献数
6 1

This paper describes the folding/wrapping methods of thin flat circular membranes by using folding patterns prescribed by combining two groups of equiangular spirals. By using both folding conditions at nodes and continuous conditions of equiangular spiral type folding lines in the membranes, 2 kinds of folding patterns have been analytically designed ; (1)folding patterns consisting of pseudo equiangular spiral (zigzag type spiral) and equiangular spirals, and (2) folding patterns consisting of two groups of equiangular spirals. The availability of present folding/warpping methods of thin circular membranes has been verified by manufacturing paper and very thin metal sheet samples.
著者
鈴木 孝 柿 賢一 高橋 豊弘 中西 正義
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.74, no.746, pp.2403-2410, 2008-10-25
参考文献数
22

Hitachi Aero Plane Co. former Tokyo Gas Electric Industry Co. (Gas-Den), who also predecessor of Hino Motors, Ltd. developed an unique radial 22 cylinder aero-engine "HA51" by order of imperial army at the time of later period of the World War II. Although the engine could not be applied to test flight due to the end of the war, it has some advanced design features. For searching the design and the philosophy of this engine, brief history of the Gas-Den aero-engines was described in first part on this paper. That includes Japanese first own designed unique Shimpu (or Jimpuu) in 1928, Tempu (or Amakaze) and also Military Tank engine and others. The "HA51" engine was compared with "Homare" one of the Japanese high power engine and American P & W R2800. Unfortunately, some hypothesizes have to made on the engine, because it was missing at the war's end.
著者
冨田 信之
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.583, pp.922-929, 1995-03-25

When a rocket is launched by a rail launcher, the rocket receives tip-off angular velocity caused by the moment due to engagement of the tail hanger of the rocket on the rail after clearance of rocket C.G. from the tip of the rail. This paper analyses one occasion, when small test rocket launched from a rail launcher experienced unexpected large pitch-down tip-off angular velocity. The rocket had two hangers, one of which was constrained by a detent mechanism prior to launch. When the rocket motor was fired, detent action caused torsional deflection of the shaft, which supported teh rail launcher. When the hangers got free, the shaft started oscillatory motion, which amplified the tip-off angular velocity of the rocket. Analysis of the dynamics of the rail launcher and the rocket was performed and numerical calculation was made to simulate the tip-off velocity. Measures for improvement were summarized.
著者
島村 真介 須賀 一博 江澤 良孝 青木 繁
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.73, no.729, pp.1480-1485, 2007-05-25
被引用文献数
1

Impact characteristics of a cue in billiards are evaluated numerically by developing a simple method. It is assumed that the cue and ball are elastic and rigid, respectively. The displacement of the cue is evaluated by the finite element method and that of the ball is calculated by solving the equation of motion. The time variation of impact force is estimated by equating these displacements at contact point. The accuracy of the analysis is checked by performing a detailed finite element analysis and an experiment, in which a freely supported cue is hit with a swinging ball. It is shown that (1) the impact force and the ball velocity increase with increase in the stiffness of the shaft, (2) the contact period decreases with increase in the stress wave velocity in the cue, (3) with increase in the stiffness of the tap, the impact force rises rapidly, reaches a large maximum value and falls in a short time (4) the ratio of slip to rotation of a ball during the contact period increases with increase in the stiffness of the shaft and the tap and (5) a peak appears in the time variation of impact force for a soft shaft due to the metal screw in the middle of the shaft.
著者
小林 吉之 嶺 也守寛 藤本 浩志
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.73, no.725, pp.274-279, 2007-01-25 (Released:2011-03-04)
参考文献数
14
被引用文献数
1 1

To determine the accuracy of foot position sense in the means of foot placement, young adults were asked to place either medial edge or lateral edge of their feet along the base line on the floor as close as possible, and the edge of placed feet were scanned by using laser displacement gauge. From the collected data, constant error, the distances between the edge of placed feet and the base line on the floor, and absolute error, the absolute distances between the edge of placed feet and the base line on the floor were defined and compared between the medial or lateral trials, and dominant leg or indominant leg. The statistical analysis showed significant differences of constant error between the trials only. The trials to place their medial edge tend to place their feet away from the base line, and the trials to place their lateral edge tend to place their feet in to the base line. These results indicate that we tend to expect the position of our feet more medially than actual, and these discrepancy may be one of a reasons of tripping or banging of our feet to the obstacles while walking.
著者
橋本 良夫 斉藤 敏克
出版者
The Japan Society of Mechanical Engineers
雑誌
日本機械学会論文集 C編 (ISSN:03875024)
巻号頁・発行日
vol.69, no.687, pp.3029-3033, 2003

A method is proposed to analyze dynamic response of a rocket-launcher system at lift-off. In this paper, rocket-launcher system is modeled as finite element Bernoulli-Euler beams connected with two slippers which are modeled as linear springs. A beam element with a moving spring is devised to represent the rocket-launcher interaction. Coupled equations of motion with time-varying coefficients are derived and solved by using direct method such as the Wilson θ method to calculate the dynamic response of the system. To verify the validity of this method, dynamic response is calculated by using the data of M-3S rocket-launcher system. Two rocket models, rigid-body and elastic-body models, are used in this calculation. The numerical results obtained from two models are compared and discussed.
著者
堤 一郎
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:03875024)
巻号頁・発行日
vol.74, no.746, pp.2387-2395, 2008-10-25 (Released:2011-03-04)
参考文献数
17

Wooden carriage manufacture of Japanese Imperial Government Railway (J. I. G. R.) Works and Japanese young railway engineer cultivation in the Meiji period are described. In the start of J. I. G. R.'s transport business, 143 rolling stocks were imported from the U. K., and English railway engineers were employed. They cultivated Japanese young trainees through the construction of wooden carriages by themselves on the job training. A drawing of Adams bogie track with Munsell wheels, brief personal record of four English railway engineers and three Japanese young engineers were explained. Mechanical Engineering Heritage of four wooden carriages preserved in Japan are introduced, too.
著者
北島 洋樹 沼田 仲穂 山本 恵一 五井 美搏
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.63, no.613, pp.3059-3066, 1997-09-25
被引用文献数
31

An automobile simulator experiment was carried out in order to develop a method of prediction of sleepiness based on mainly physiological parameters. Twelve subjects participated in the study. First, criteria variables of sleepiness were investigated since such variables have not been clear in many previous studies. Rated sleepiness based on facial expression was examined as a criteria variable in this research. Rated sleepiness by two examiners gave high correspondence (0.755), and mean correlation coefficient between this rated sleepiness and the subjects' self-rating sleepiness was also high (0.794). These results show that this rated sleepiness is considered to be reliable and valid as a criteria variable. Second, both physiological parameters and the driving performances were adopted as explanatory variables. Cross-correlation analysis between the rated sleepiness and these parameters showed that α/β at posterior-midline (Pz), blink duration, the rate of long blink and heart rate were relevant as general indexes of slepiness. Methods of prediction of sleepiness based on these results are mentioned in our second report.
著者
山田 陽滋 鴻巣 仁司 森園 哲也 梅谷 陽二
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.68, no.666, pp.509-516, 2002-02-25
被引用文献数
26

In the social context of an aging workforce at the labor intensive manufacturing sectors, we discuss an assisting system for older workers who have excellent skills though their physical ability to perform iterative tasks at a constant speed with high quality. "Skill-Assist" which is proposed in this paper is a new type of assisting system which varies its mechanical impedance to give workers who have been working under the lifetime employment system a sense of achievement in being again able to accomplish the skilled tasks they were capable of when younger. This paper discusses the control algorithm of Skill-Assist. First, a criterion for changing the impedance of Skill-Assist in response to task condition variations is explained to propose. "Phase-Dependent Impedance Control". Second, desirable impedance patterns are experimentally determined. The patterns are required to produce a good subjective operational feel and precise positioning when maneuvering Skill-Assist. Finally, the effectiveness of Skill-Assist is verified under more practical positioning tasks, which is evaluated based on the subjective operational feel, physical stress, and productivity.
著者
山中 将 猪狩 源宗 井上 克己
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.70, no.692, pp.1182-1189, 2004-04-25
参考文献数
17
被引用文献数
9

The crossed axle traction drive developed by the authors is applied to a new mechanism of CVT. The input and output shafts with conical disks are parallel and a idler shaft having conical rollers at both ends is placed perpendicular to the input/output shafts. This idler shaft transmits torque from the input shaft to the output shaft and its movement produces the speed variation by changing the contact point between the input/output disk and the idler roller. The purposes of this study are to propose the new CVT mechanism, to develop a prototype to confirm the CVT to work and to evaluate the transmission efficiency. The design procedure of disk and roller are shown by geometrical analysis and the method to apply contact force by using a loading cam is examined. The influence of a spin caused by changing the contact point and torque loss of bearings to the. transmission efficiency are evaluated. The range of speed changing ratio of the prototype is 0.5 to 2. The efficiency of 75% was obtained in case of input torque 10 Nm at uniform speed.
著者
尾形 哲也 菅野 重樹
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.633, pp.1900-1906, 1999-05-25
被引用文献数
16

This study discusses the communication between autonomous robots and humans through the development of a robot which has an emotion model. The model refers to the internal secretion system of humans and it has four kinds of the hormone parameters to use to adjust various internal conditions such as motor output, cooling' fan output and sensor gain. We surveyed 126 visitors at '97 International Robot Exhibition held in Tokyo (Oct. 1997) in order to exaluate psychological impressions of the robot. As the result, the human friendliness of the robot was confirmed and some factors concerning with the human robot emotional communication were discovered.
著者
臺丸谷 政志 小林 秀敏 PEARSON James Todd PEREZ Jose Luis 斉藤 文護
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.64, no.623, pp.2417-2423, 1998-07-25
被引用文献数
1

The present study is concerned with the estimation of power in Karate-doh. The measuring method and numerical estimation for impact forces produced by Karate-doh hand techniques such as Syutoh-uchi, Tettsui-uchi and so on, are discussed by experiments (by means of Tameshi-wari) and numerical simulations. In the beginning, an impact experiment of simply supported concrete beams was conducted to examine the impact response and the impact breaking of the concrete beam. And then Tameshi-wari of simply supported concrete beams was performed. In order to understand the mechanism of impact breaking of concrete beams by Karate-doh hand techniques, a numerical simulation was also carried using a dynamic finite element method with a Newmark-β method. The impact force generated between the hand and the concrete beam was estimated to be beyond 4.5 kN. It was also found that a reaction at both ends of the beam was almost never generated by virtue of the dominant modes of bending deformation of the beam. This indicates that, by means of Tameshi-wari, the impact breaking of the concrete beam floating in air is quite within the bounds of possibility. Therefore Tameshi-wari for concrete beams suspended in air was also tried and achieved the predicted results.
著者
鈴木 曠二
出版者
The Japan Society of Mechanical Engineers
雑誌
日本機械学会論文集 C編 (ISSN:03875024)
巻号頁・発行日
vol.50, no.457, pp.1736-1739, 1984

The Dynamic Soaring is the soaring technique making use of the wind gradient. The order, Albatross belongs to, includes several species which use this technique and have various scale. Main conclusion is as follows: They practice almost physically similar dynamic soaring. The larger one practices a larger dynamic soaring and requires a stronger wind than the smaller one does, in the wind near the sea surface. Such a scale effect corresponds with the fact that a Wandering Albatross lives in the zone of the westerlies of the Southern hemisphere; on the other hand, a Streaked Shearwater which is smaller than it lives in areas where it is not so windy. But if the wind profile was almost linear, the said relation between the scale of a bird and the wind strength would be reversed.
著者
白國 紀行 谷村 正治 宮崎 文夫
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.72, no.716, pp.1021-1027, 2006-04-25 (Released:2011-03-04)
参考文献数
4

Among high-speed railway systems, the superconducting maglev train is an innovative transportation system, in which trains are levitated and driven at speeds of up to 550 km/h. But in case of quench of superconducting magnet, vehicles are forced to touch down on the guideway. For safe landing, we developed the new equipment named “Emergency Wheel”. Our process of development is as follows : (i) To know the maximum load for the landing, we simulated the electromagnetic power and dynamics of vehicles. (ii) Each element of emergency wheel was developed and tested in a factory. (iii) Quench tests were conducted on the Yamanashi Maglev Test Line and results showed a good accordance between simulation and test. Through the study and development of emergency wheel, we established a design method of safety equipment for Maglev.
著者
山田 健介 宮本 共生 臼井 清一
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.71, no.708, pp.2557-2562, 2005-08-25 (Released:2011-03-04)
参考文献数
8
被引用文献数
4 3

The paper presents a design and characteristics of a new holonomic omnidirectional moving vehicle, which simultaneous and independently controlled translational and rotational motions. The moving vehicle has four rubber balls instead of wheels. Each ball is driven by two rotating rollers. But the system has only four actuators. The kinematics of the moving vehicle is analyzed and the control algorithms are derived for the holonomic and omnidirectional moving vehicle. The experimental results show that the proposed new type of moving mechanism has good characteristics and the sensor on board is useful for autonomous moving under relatively large disturbance.
著者
山中 仁寛 中易 秀敏 三好 哲也 前田 多章
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.72, no.719, pp.2248-2256, 2006-07-25 (Released:2011-03-04)
参考文献数
17

A new method is proposed to measure the useful field of view (UFOV) when one can recognize the objects by visual task. Since the distance from fixation point to target mark is the strength of stimuli, the psychometric curve is utilized for UFOV by the statistical estimation by Probit and Staircase methods. An approximation by ellipse is also applied to represent the contour of the UFOV. The proposed method enables one to estimate the threshold of recognition with probability that means the UFOV with the detection probability. Therefore, it is proposed in this paper to determine the threshold in any direction from fixation point of the UFOV with visual task by psychometric curve. The availabilities of the proposed method are examined for accuracy and efficiency by the experiments.
著者
新宮 正弘 江口 清 山海 嘉之
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.76, no.772, pp.3630-3639, 2010
参考文献数
24
被引用文献数
1

Polio survivors with severe limb paralysis cannot move their limbs voluntarily because they have a significantly reduced number of motor neurons due to the poliovirus infection. There is a danger that their ability to control their neuromuscular system, in particular fundamental abilities such as balancing flexors and extensors in the neuromuscular system may decrease dramatically in the long-term. If such polio survivors could improve their ability to balance, it would be possible for them to use the "Robot Suit HAL" wearable movement support device. HAL anticipates its wearer's intended movements through the measurement of bioelectrical signals, and generates assistive torques to support their movements. This study proposes a biofeedback training method using visual information, with the objective of restoring motor functions using HAL. A biofeedback system that feeds-back bioelectrical signals visually was developed, and tested with a polio survivor. The polio survivor was able to adjust the balance of their muscular control through the proposed training method, and voluntary motion was recorded to a paralyzed knee using a single-joint type HAL. These results suggest that polio survivors who have been paralyzed for a long time may improve their ability to control their neuromuscular system by using the proposed training method.
著者
星川 秀利 藤本 浩志
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.69, no.680, pp.1080-1085, 2003-04-25 (Released:2008-02-26)
参考文献数
12

The purpose of this study is to investigate the influence of lower saddle height on the knee joint. Five healthy male pedal at 60 rpm against the work load of 100 and 200 W. Three saddle heights of 80, 90 and 100% of trochanteric leg height are selected in this study. During each trial, the position data of the right lower limb's joints by the video camera and the force data of the right pedal by the force sensor are measured. Using these data, the inverse dynamics analysis is done, and the following results are obtained. The peak link force acting on the knee joint and the peak knee extension moment do not indicate any change over the three saddle heights, however, the angles at their peak values shift to the knee flexion as the lower saddle height. These results indicate that the lower saddle would overload at the knee joint.