著者

毛利 宏 永井 正夫

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.664, pp.3836-3843, 2001-12-25

被引用文献数

3

---

This paper compares two path-tracking control procedures, one using the steering angle as the control input and the other using steering torque as the input. This comparison will make clear the characteristics of both approaches. While steering angle control provides superior robustness, the control system configuration does not allow the driver to intervene in the steering process. In contrast, steering torque control provides some degree of freedom for allowing the driver to steer even during the control process, thus offering the potential for the provision of a steering assist mechanism.

著者

宇野 義幸 金枝 敏明 横溝 精一

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.59, no.566, pp.3199-3204, 1993-10-25

被引用文献数

5 6

---

In this paper, we present the possibility of biological machining by bacteria as a new technique for metal removal. There are some kinds of chemolithotrophic bacteria which gain energy from inorganic matter and fix carbon dioxide of the air. Among them, there is a particular bacteria, Thiobacillus ferrooxidans, which "eats" metals. Machining of grooves on pure iron and pure copper by Thiobacillus ferrooxidans is experimentally investigated. The experimental analysis made it clear that biomachining was possible, since the depth of the groove generated on the workpiece increased approximately proportionally to the machining time. Furthermore, electric field assisted biomachining proved to be even more effective, because the removal rate became much higher under an electric field.

著者

田中 道彦 北郷 薫 朝場 栄喜

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.48, no.434, pp.1607-1614, 1982-10-25

被引用文献数

4

---

本論文は, ねじの幾何学的形状を考慮して, より実機に近いモデルでのねじ締結体の有限要素法による解析方法について紹介したものである. これによると, らせん状に突起したねじ山を有するねじ部の, 三次元有限要素法による解析方法が, 明らかにされたのみならず, 従来解析がなされていなかった植込ボルトおよび押えボルトなどのねじ締結体の軸対称有限要素法による解析方法も明らかにされた.

著者

荒井 隆 稲崎 一郎 青山 藤詞郎 米津 栄 伊庭 剛二

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.49, no.446, pp.1789-1798, 1983-10-25

被引用文献数

1

---

本研究では,摩擦トルクが極めて小さく汚染の心配が全くない静圧空気送りねじの開発に取組んだ。ねじをモデル化したコニカル軸受の静特性理論解析法は,実験的にその妥当性が確かめられ,静圧空気送りねじの設計および静特性解析の基礎が確立された。この結果をもとに静圧空気送りねじを実際に設計,試作し,半径方向および軸方向負荷容量を測定した。さらに,これらの測定結果と理論解析結果とを比較検討した。

著者

唐 東豪 野波 健蔵 平田 光男 小川 秀明 谷口 義弘

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.66, no.649, pp.2981-2987, 2000-09-25

被引用文献数

2

---

This paper is concerned with a study of the high performance realization of electronic engrave technology. Using actual piezo actuator for ultra-high speed electronic engrave machine, we designed several control systems to realize a good performance, after the system identification and modeling. The designed control strategies consist of (i) LQI servo control, (ii) Two-degree-of-freedom control system, (iii) Sliding mode control with observer, (iv) Sliding mode control with output feedback. Incidentally, we also find out the compulational speed limit of DSP system via the experiments. We realized the good performance using the two-degree-of-freedom control and the sliding mode control with observer. The most important contribution of this study is that the experimental results can be directly used to commercial machine.

著者

峯川 洋己 稲崎 一郎 中村 誠 鈴木 繁 上間 丈司 横田 秀雄

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. C編 (ISSN:03875024)

巻号頁・発行日

vol.66, no.646, pp.2054-2059, 2000-06-25

被引用文献数

4

---

The cooling lubricants are still widely used for machining operation today to extend the tool life and to improve the quality of the machined surface. However, due to increasingly strict regulation aiming at controlling environmental pollution, the costs of using cooling lubricants are rising. It is, therefore, necessary to reduce the amount of cooling lubricant used in production lines. The logical step which can be taken to avoid the environmental problem is dry machining. But sometimes dry machining is not possible due to manufacturing process aspects, such as extensive tool wear and insufficient surface quality. To solve those problems, this study proposes cutting with minimal quantity lubrication(MQL), which is able to achieve the function of the cooling and lubrication with an extremely low consumption of lubricants and great amount of air flow. In this paper, the mechanism of the MQL system is introduced and by using this system, milling provess on carbon steel and aluminum alloys is tested to see the effectiveness of the MQL method.

著者

有本 卓

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.608, pp.1039-1051, 1997-04-25

著者

江連 勝彦 光田 慎治 背戸 一登

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.60, no.571, pp.781-787, 1994-03-25

被引用文献数

2

---

This paper proposes the vibration control method of flexible structures arranged in parallel. In recent years, vibration control of a flexible structures using an active dynamic absorber has increasingly been utilized in practical applications. In the future, as the structure becomes more advanced and more flexible, its natural frequency gradually becomes lower. Thus, it will be difficult to assume enough force for vibration control using an active dynamic absorber. The authors proposed the method wherein two structures arranged in parallel are controlled actively using two actuators set between them. In general, a reduced-order-model is necessary to design a controller using the LQ control theory. Using the modeling method proposed here, reduced-order model of the 2-2 degree-of-freedom parallel structures can be easily fabricated. Using a root locus plot, the relationship between weighting parameters and control effect in the LQ control theory is clarified. It is demonstrated that this control method is able to control vibrations of 2-2 DOF system without the spillover instability, by simulation and experiment.

著者

辛 振玉 藤原 大悟 羽沢 健作 野波 健蔵

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.675, pp.3284-3291, 2002-11-25

被引用文献数

17

---

This paper proposes the model based control system design for autonomous flight and guidance control of Radio-Controlled Helicopter. RC Helicoper has been studied with fuzzy and neural network approach, but it is so difficult for unmodel based control to stabilize it. The system identification techniques and model tuning approach are applied for RC helicopter system to obtain the mathmetical model. In order to realize the full automatic controlled RC helicopter, we have designed the attitude controller and altitude controller with LQG based Kalman filter and trajectory controller with SMC (Sliding Mode Control) for RC helicopter. It has been clarified that the proposed scheme for attitude control, altitude control and hovering control are very useful by way of the simulations and experiments.

著者

横山 良平 伊東 弘一 湯浅 芳郎 陸 暁茜

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.60, no.573, pp.1759-1766, 1994-05-25

被引用文献数

1

---

An optimal unit sizing method is developed for hybrid power generation systems utilizing photovoltaic and wind energy. Equipment capacities and electric maximum demand are determined so as to minimize the annual total cost and annual energy consumption from the viewpoints of economy and energy conservation, respectively. This optimization problem is considered as a multiobjective one, and a discrete set of Pareto optimal solutions is derived numerically using the weighting method. Two systems interconnected with the electric power grid are inventigated : one has the option of reverse power flow into the grid, and the other, no option. By carrying out some case studies, the trade-off relationships between the two objectives are clarified, and optimal values of equipment capacities are determined. The effect of electricity deficit on unit sizing is also investigated.

著者

清水 創太 Burdick Joel W.

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.733, pp.2591-2596, 2007-09-25

被引用文献数

1

---

This paper aims at acquiring robust feature for rotation-, scale-, and translation-invariant image matching from a space-variant image by a fovea sensor. A proposed model of eccentric compensator corrects deformation in a log-polar image when the fovea sensor is not centered at a target image, that is, eccentricity exists. An image simulator in discrete space implements this model by its geometrical formulation. This paper also proposes Unreliable Feature Omission (UFO) using Discrete Wavelet Transform. UFO reduces local high frequency noise appeared in the space-variant image when the eccentricity changes. It discards coefficients when they are regarded as unreliable, based on digitized errors of the input image by the fovea sensor. The first simulation estimates the compensator by comparing with other polar images. This result shows the compensator works well and its root mean square error (RMSE) changes only by up to 2.54 [%], in condition of the eccentricity within 34.08 [°]. The second simulation shows UFO works well for the log-polar image remapped by the eccentricity compensator, when white Gaussian noise (WGN) is added. The result by Daubechies (7, 9) biorthogonal wavelet shows UFO reduces the RMSE by up to 0.40 [%] even if the WGN is not added, when the eccentricity is within 34.08 [°].

著者

吉武 裕 末岡 淳男 森山 智樹 山崎 正則

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.66, no.646, pp.1785-1792, 2000-06-25

被引用文献数

6

---

This paper deals with the quenching problem of self-excited vibrations by using a device composed of a Hula-Hoop and a generator. This device is also additionally able to generate electricity. The Runge-Kutta-Gill method is applied to the numerical analysis of a Rayleigh's type self-excited system with the device. The solutions obtained are divided into two main categories ; periodic solutions and chaos accompanied by Hula-Hoop's vibration and rotation. An optimum approach for quenching the self-excited vibration was discussed. As a result, it was clarified that for the optimum design of the device there existed a certain relation among the moment of inertia, the mass of Hula-Hoop and the capacity of generator, and the vibration at that time was chaos as in the impact damper which we analyzed before. The condition of maximum generation of electricity was not equal to that of minimum vibration amplitude of the self-excited system. An experiment was performed to quench vortex-induced vibration and to generate electricity by using the device. The experimental results agreed well qualitatively with those from the numerical computational analysis.

著者

涌井 伸二

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.63, no.612, pp.2693-2700, 1997-08

参考文献数

11

被引用文献数

7

---

The piezo element as a representative displacement type actuator elicits a high-speed response in comparison with the electromagnetic motor. Recently, there has been much research carried out using this feature. However, most of the studies are aimed at realizing higher precision, while there is very little research regarding high-speed. When the positioning mechanism is given, improvement of the positioning performance is entrusted to the feedback loop. At this point, we expect that some methods are prepared in order to improve the positioning performance, because an optimal method can be selected under an actual constrained condition. When we try to realize higher positioning via the feedback loop, we can enumerate technical items, such as realization of the high-speed drive amplifier, optimal tuning of the compensator, and the tuning degree of freedom extension by adding a minor loop. In this paper, these engineering techniques are summarized.

著者

盛 再権 山藤 和男

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.1042-1049, 1995-03-25

被引用文献数

5 1

---

In the previous paper, in order to emulate a human riding a unicycle by a robot, a new model with two closed-link mechanisms and a controlling rotor (turntable) was proposed. By analyzing that model, we showed through simulation that both longitudinal and lateral stability of a human riding a unicycle can be satisfactorily emulated. In this study, we designed and manufactured a unicycle robot based on an idea proposed in the previous paper. Using the new method for detecting the posture of the robot in three dimensions, we conducted experiments on this robot under the proposed control method. The robot's posture was stabilized successfully in both longitudinal and lateral directions in three dimensions, and driving control was realized. The experimental results tell us that the proposed model and control method are effective in emulating the human riding a unicycle system by a robot. We believe that this is the first completely successful study in emulating a human riding a unicycle by a robot.

著者

大岡 昌博 小林 光男 篠倉 恒樹 鷺沢 忍

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.56, no.531, pp.2919-2925, 1990-11-25

被引用文献数

2

---

In order to improve the intelligence of a robot with a sense of touch, we have developed a tactile sensor array which can detect the distribution of the three components of a force vector. The tactile sensor consists of a 6×15 matrix of 3×3 mm sensing sites; each site is made of two single-crystal silicon rings on which semiconductor strain gauges are formed by means of a semiconductor processing technique. In this paper, we have introduced formulas to calculate applied force/moment, a center of distributed pressure, and some parameters of slip and hardness, and then carried out sensing tests in order to validate those formulas. Experimental results show that applied force/moment and the center of distributed pressure can be detected with practical accuracy. Slipping, rolling and rotating states can be distinguished by combinations of the slip parameters. Moreover, mechanical properties can be sensed by means of combinations of the hardness parameters. A lump in a soft object can be recognized using an adequate threshold method.

著者

藤井 文武 西野 誠 和田 憲造

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.742, pp.1493-1500, 2008-06-25 (Released:2011-03-04)

参考文献数

12

---

A new control algorithm to achieve trajectory following motion of a motorcycle is proposed in this paper. Presented algorithm is comprised of a feedforward term and a feedback term, the former of which intends to balance forces acting on a motorcycle that have adverse effects for roll motion stabilization, and the latter controls the steering and human lean angle to achieve trajectory following. What is to be emphasized is that the proposed control law is comparably simpler than the ones presented in the foregoing works on motorcycle motion control. Results of both numerical and actual experiments have been described to illustrate the effectiveness of the proposed algorithm.

著者

中沢 弘 和泉 隆志

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.601, pp.3719-3724, 1996-09-25

被引用文献数

4

---

This paper deals with fundamental research on the development of human-oriented CNC machine tools which allow workers to feel pride and pleasure in making full use of their abilities in manufacturing. As a step toward realizing human-oriented CNC machine tools, we tried to extend the sense of touch of workers by developing cutting a torque feedback handle through which workers can feel the rotational resistance corresponding to cutting torque. This system has been evaluated by inexperienced and skilled workers of engine lathes and CNC machine tools using the information integration method. The results show that use of the cutting torque feedback handle greatly improves workers, satisfaction when carrying out NC lathe work.

著者

小林 正和 川上 拓也 東 正毅

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.764, pp.1000-1008, 2010

参考文献数

17

---

To maximize designers' creativity during collaborative design processes, this paper focuses on designers' individual differences, especially differences in their idea evaluations, and proposes an analytical method for revealing their differences. During creative group activity, when a designer represents an idea using some words or a short sentence, the others imagine the concrete image of the idea form the presented words and evaluate the concretized idea in their mind. However, the results of their concretizations and evaluations vary among designers in most cases. Such differences or diversities seem to be undesirable, but they have a huge potential for leading new ideas during divergent processes of exploring ideas. Therefore, the method proposed here reveals designers' individual differences by analyzing the results of their idea evaluations and encourages their further idea explanations. In addition, to confirm the effectiveness of the proposed method, the case study is carried out and its results and detailed processes are analyzed.

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

---

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

本田 善久 松久 寛 佐藤 進

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.60, no.579, pp.3749-3754, 1994-11-25

---

The vibration of a rotating elastic disk subjected to base excitation is theoretically analyzed. Formulation of the steady-state response to harmonic excitation is derived as an eigenfunction series where the eigenfunctions are given in the form of rotating waves. It is presented that a parallel motion to the axis excites only the axisymmetric modes. It is also shown that a tilting motion around an arbitrary diameter excites the forward and backward rotating modes whose circumferential wavenumbers are one. The Doppler's effect and the coupling effect between the inertia force and the Coriolis force are discussed. The response curves and the vibratory modes of the rotating disk are studied in detail. It is shown that the standing waves fixed in space can be formed. The relation between the excitation frequency and the configuration of the vibratory modes is also presented.