著者

栗田 裕 松村 雄一 神田 真一 絹笠 裕直

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.741, pp.1333-1339, 2008-05-25 (Released:2011-03-04)

参考文献数

6

被引用文献数

1

---

Quadruped animals switch gait patterns with walking frequency for energy-effective walking. This is similar to the phenomenon that excited natural vibration modes are switched with vibration frequency in a MDOFs system. Therefore, in this paper, it is assumed that quadruped animals walk by using the natural vibration of their own musculoskeletal systems. In the simplest rigid-body-link model consisting of a body and four legs, there are the natural vibration modes similar to the gait patterns (trot, pace and gallop) of quadruped animals. However, all the natural frequencies in the model exist near the natural frequency in the free leg, and are accordingly different from the walking frequencies of actual quadruped animals. In the rigid-body-link model added a scapular and a pelvic on observations of quadrupted walking, the natural frequency of the gallop mode corresponding to high speed walking raises greatly and approaches the walking frequency. If the physical characteristics of horses were applied to the rigid-body-link model added the leg's joints, the natural vibration in the model is close to the gait patterns of horses.

著者

矢沢 信八 北郷 薫

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.53, no.496, pp.2645-2654, 1987-12-25

被引用文献数

1

---

The loosening of a bolt-nut connection induced by a tangential load applied to a clamped plate is investigated theoretically and experimentally. The results obtained are as follows : 1. A driving torsional torque is induced on the bearing surface of the bolt head by slip of the bolt head on the fixed plate. 2. The above torsional torque is either in the tightening or loosening direction of the bolt according to the distribution of loads on the bearing surface of the bolt head. 3. If the resisting frictional torque on the screw thread part of the bolt in the mating nut is overcome by the above torsional torque, rotation of the bolt is caused in the nut which remains fixed on the clamped plate. The rotation of the bolt is either in the tightening or loosening direction depending on the direction of the above torsional torque. If the total sum of loosening rotation is greater than that of tightening, then the result is the loosening of the bolt. 4. The above torsional torque and the resisting frictional torque are much smaller than those expected from the coefficient of sliding friction.

著者

村上 岩範 後藤 桂孝 吉澤 明訓 安藤 嘉則 山田 功

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.76, no.765, pp.1093-1099, 2010-05-25

---

In this research, we propose the driving method of the magnetic material disc by the rotating magnetic field. When the rotating magnetic field is given to the magnetic material disk, the magnetic material disk is magnetized by a phase different from the rotating magnetic field. Therefore, magnetic attractive force acts between the magnetic material disk and the rotating magnetic field. At this time, because force in the vertical direction and radial direction cancelled respectively, only force in the circumferential direction comes to act. The rotating torque is generated by this force in the circumferential direction. Therefore, the magnetic material disc rotates. The purpose of a present article is to clarify the proposed driving principle by doing the magnetic flux density measurement, torque measurement and the torque analysis. Then, this driving principle was clarified to some degree.

著者

白土 寛和 野々村 美宗 前野 隆司

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.73, no.726, pp.541-546, 2007-02-25 (Released:2011-03-04)

参考文献数

15

被引用文献数

6 11 2

---

Artificial skin having human skin-like texture is necessary for the development of tactile evaluation systems and for robots that have physical contact with humans. This paper describes a novel type of artificial skin having human skin-like texture and a model of human texture perception. The artificial skin is designed by emulating the surface shape pattern and elastic structure of the human skin. Appropriate wettability and friction property of the artificial skin is achieved by designing the surface shape. Through sensory evaluation, we confirm the artificial skin has human skin-like texture due to its surface shape pattern and elastic structure. In addition, we build a model of skin-like texture perception through multivariate analysis between physical parameters and tactile factor scores. This model can indicate what factor is important for human skin-like texture. From the results, artificial skin having optional skin-like texture can be developed

著者

森村 勉 関 雅樹 石川 栄 坂上 啓 三輪 昌弘 村松 浩成 西村 和彦 吉田 幸司 足立 昌仁 南 善徳

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 = Transactions of the Japan Society of Mechanical Engineers. C (ISSN:03875024)

巻号頁・発行日

vol.76, no.764, pp.825-834, 2010-04-25

参考文献数

12

被引用文献数

1

---

We conducted full scale experiment to study the derailment mechanism of high speed railway vehicle by earthquake ground motion. The experiment was arranged to mimic the vehicle/track conditions of Tokaido Shinkansen by using the bolsterless bogie and the track materials both presently in use for Tokaido Shinkansen. Large excitations enough to derail the test vehicle were given, so that derailment motions were fully captured. Through the tests, (1) Total 34 cases of derailment were observed by the sine wave excitations in the frequency ranges of 1.1Hz to 1.5Hz. The test vehicle was derailed as the result of rocking motion. (2) Wheel lifts of around flange height without derailment were observed by the sine wave excitations in the frequency ranges of 0.5Hz to 1.0Hz. (3) By comparing the vehicle motions of two cases of different ballast conditions, we learned that dynamic features of the ballast track brings no significant difference on the vehicle dynamics of those cases. (4) Finding reasonable match between the experimental results and analytical results obtained from the simulation developed by the authors, we further investigated the possibility of derailment by the sine wave excitations in the frequency ranges of 0.5Hz to 1.0Hz and found that vehicle was to be derailed by giving larger excitation amplitudes than those given in the experiment.

著者

河合 望 森 敏彦 丸茂 康男 千賀 雅明

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.52, no.484, pp.3317-3323, 1986-12-25

---

For improving the deep-drawability of sheet metal, it is necessary to possibly heighten the fracture force of the metal on the punch shoulder. In the square shell deep-drawing, it is vital to uniformize the stress distribution along a circumferential direction at the punch shoulder, as mentioned in the previous papers. In this paper, to clarify the conditions of uniformizing the stress distribution, various lubricants are applied to the punch head, using the punches with various corner radii. In the case of the smaller corner radii, the better lubricants improve markedly the drawabiity ; but in the case of the cylindrical punch, the inferior lubricants do so only slightly. The mechanisms are explained through the measurement of metal flow and thickness strain on the punch head.

著者

安部 原也 菊地 一範 岩城 亮 藤井 健

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.76, no.767, pp.1662-1668, 2010-07-25

被引用文献数

2

---

In order to investigate effects of driving conditions and traffic environments on visual behaviour, a driving simulator experiment was conducted. Specifically it was considered how a visual field was influenced as a function of cognitive distraction, possibly resulting in a situation of look-but-did-not see, and crowdedness of other vehicles and pedestrians. Cognitive distraction was simulated by a experimental secondary task which was relevant to mental calculations. It was found that driver's reaction time to a target mark was increased resulting from cognitive distraction. This result may be explained from a driver's visual field point of view. That is a visual field for recognising a target mark got small when drivers was distracted with particularly driving on non-crowded road, compared with crowded road. Potential application of this research will be discussed.

著者

橋本 良夫 斉藤 敏克

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.69, no.687, pp.3029-3033, 2003-11-25

---

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

中野 寛 末岡 淳男 劉 孝宏 家藤 英世 折居 利昭 中江 貴志

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.72, no.720, pp.2373-2381, 2006-08-25 (Released:2011-03-04)

参考文献数

8

被引用文献数

2 4

---

This paper deals with the occurrence mechanism of the squeal phenomena generated in a new type of bicycle disk brake unit and its countermeasure experimentally and analytically. It was made clear that squeal was in-plane vibration in the direction of disk surface with frequency 650 Hz caused by frictional characteristics with negative slope with respect to the relative velocity, and was generated in the vibration system including brake unit and spokes, in the same manner of old type of disk brake unit. The countermeasure against squeal by using a dynamic absorber was conducted. The simple analytical model of the bicycle disk brake system was set up. Some features of squeal phenomena and the optimal design of dynamic absorber for quenching squeal were made clear analytically and it was confirmed that the analytical results agreed well with the experimental ones.

著者

藤田 喜久雄 赤木 新介 廣川 敬康

出版者

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.564, pp.2576-2583, 1993-08

著者

塚本 尚久

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.50, no.459, pp.2156-2164, 1984-11-25

---

無潤滑運転における防せい(錆)の意味で炭素鋼歯車の代用にステンレス歯車、黄銅歯車、鋳鉄歯車の使用を考えたがこれらの歯車とのかみ合いでナイロン歯車が使用された実績が少ないためその磨耗などの実態がわかっていない。このことから本報では上記3種類の金属歯車でナイロン歯車の磨耗実験を行いこれらの結果とすでに報告した炭素鋼歯車とかみ合うナイロン歯車の磨耗などを比較検討し相手金属歯車の材料の違いに伴うナイロン歯車の磨耗などを明らかにした。

著者

藤田 隆史 井上 昭彦 服部 忍 柴田 碧

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.50, no.456, pp.1327-1338, 1984-08-25

---

誘導円板形継電器は送配電系統や発電機などの保護継電器として広範囲に使用されているが、過去の地震での誤動作も報告されており、その誤動作が従来から問題とされていた。本研究では、水平二次元加振により円板の中心軸下端のピボットが下部軸受内をふれまわる際の摩擦が原因となって円板が回転し、誤動作を起こすことを加振実験と理論解析により解明し、このタイプの継電器の振動試験は水平二次元加振によるべきことを明らかにした。

著者

斑目 春樹

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.47, no.413, pp.10-19, 1981-01-01

被引用文献数

1

---

振動燃焼とも関係深い熱による気柱の振動について解析と実験を行ない、振動の生じやすさを発熱量や熱源位置、気流速度、振動数、熱拡散率などの関数として表した。解析モデルは非常に単純化したものであるが、実験結果はヒータ周囲の境界層の影響を係数として処理すればこれとよく合った。実験では振動発生域、成長速度、定常振幅、高次振動の発生などを調べ、大振幅では乱流遷移を生じ成長速度が変化する現象などを見い出し、考察を加えた。

著者

福田 敏男 下中 賢

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.54, no.504, pp.1812-1820, 1988-08-25

---

This paper deals with the coordination force distribution at finger joints for an articulated hand, under the assumption that the articulated hand with multiple degrees of freedom and a multiple articulated joint structure grasps some objects. In this study, four algorithms for this force distribution problem in grasping some object are derived from the static equilibrium conditions. Furthermore, a method for changing contact and non-contact fingers in grasping is derived and some simulations are shown, where changing fingers implies that some non-contacting fingers begin to make contact with the object, while the other contacting fingers do not contact it, keeping the stable grasping conditions by hand as a whole. Finally, based on the proposed five control algorithms, a control flow of stable grasping methods for the force distribution at each joint is made for an overall control of the finger system by determining grasping forces to changing grasping fingers.

著者

福田 敏男 下中 賢

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.53, no.487, pp.731-738, 1987-03-25

---

The flexible functions of a human five finger hand with a palm are first studied from the viewpoint of force sensory manipulation, unlike the conventional viewpoint of position based manipulation. Then it is cleared that more than half of human hand work is related to force sensory information. Based on this examination, the degree of freedom of an articulated finger hand is determined to realize such a flexible manipulation as a human hand, so that twenty five degrees of freedom are necessary for a hand with consideration of joints inside the palm which have not been taken into acount so far. An Artificial finger hand with twenty five degrees of freedom is built for experiments by employing the wire and spring mechanism. Finally, an evaluation concept of three dimensional grasping is presented as a cross-section method by calculating applied forces and moments in a plane virtually cut arbitrary inclined angles around the center of a grasped object.

著者

尾崎 弘明 丘 華

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.58, no.556, pp.3675-3680, 1992-12-25

---

In this paper, a solution for the two-point boundary value variational problem, whose basic algorithm was published earlier by us, is formalized completely and universally. The optimum solution of the variational problem is obtained as a uniform B-spline curve by parallel and iterative computation. The degree of the B-spline used can be selected to correspond to the specified problem, and the solution is derived as a set of the control points of the B-spline. The algorithm is very simple and easily applicable to various engineering problems. As an application, trajectory planning of a manipulator with redundant degrees of freedom and a specified end effector path is selected, and the objective function which takes account of both the smoothness of the trajectories and the accuracy of the end effector path is constructed using the relative weighting coefficients. The effectiveness of the algorithm is well confirmed by the numerical examples.

著者

小林 宏 鈴木 星子 高橋 久憲 丹下 明 菊池 耕生

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.648, pp.2778-2783, 2000-08-25

被引用文献数

4

---

This paper deals with the method in order to realize automatic contour extraction of facial organs such as eyebrows, eyes and a mouth for the time-wise deformed frontal face. Because Snakes which is one of the most famous method to extract contour, has several issues, we propose a new method to overcome these issues. We define the elastic contour model in order to hold the contour shape and then determine the elastic energy acquired by the amount of modification of the elastic contour model. Also we utilize the image energy obtained by brightness differences of the control points on the elastic contour model. Applying the dynamic programming method, we determine the contour position where the total value of the elastic energy and the image energy becomes minimum. By using 1/30s time-wise frontal face image, we renew the elastic contour model and then realized automatic contour extraction for the time-wise deformed face. Employing facial images in terms of 6 typical facial expressions obtained from 20 subjects, we have estimate our method and find the high accuracy automatic contour extraction in terms of eyes, eyebrows and a mouth.

著者

岩倉 大輔 王 偉 野波 健蔵 HALEY Mark

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.76, no.761, pp.61-68, 2010-01-25

---

The accuracy of small and low cost GPS is insufficient for precise landing of MAV. This study aims to land on an MAV size landing target by using outer sensors. This paper describes about proposed movable outer sensor system for measuring outer environment and an algorithm of position measurement. A movable outer sensor system consists of four IR rangefinders, four servo motors and one ultrasonic rangefinder. In order to measure the MAV position, sensor system vertically swings each IR rangefinders using servo motors and detects edge of landing target. And this sensor system calculates the position from measured edge direction and ultrasonic altitude. Additionally, an experiment of autonomous hovering over the 52cm×52cm table and autonomous landing was carried out in indoor environment by using proposed sensor system. As a result of the experiment, it has been successful that our MAV could fly keeping horizontal position within 17.9cm radius circle, and landed on the table from 50cm height.

著者

塚本 尚久 丸山 広樹 三村 博

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.568, pp.3866-3873, 1993-12-25

被引用文献数

4

---

Polycarbonate is a general-purpose engineering plastic which has been widely used, together with nylon and polyacetal. In this plastic, the rate of contraction in molding is small, and the water-absorbing property is low ; therefore, the accuracy of finishing products is high. However, there are defects such as low fatigue strength and brittle fracture, and it has not frequently been used for the gears for power transmission. In this research, for the purpose of extending the practical use of polycarbonate to gears, gears were manufactured of polycarbonate without filling (natural) and of polycarbonate in which the amount of carbon fiber filling was varied, and operation tests were carried out. In this way, such factors as the load-bearing capacity, the wear of teeth and the change of tooth. profile were investigated. These results were compared with those on polyacetal gears previously, reported. Thus the evaluation of polycarbonate as a gear material was carried out.

著者

芦高 直哉 原 正之 反保 紀昭 黄 健 藪田 哲郎

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.75, no.752, pp.1000-1008, 2009-04-25

被引用文献数

2

---

Multimedia services such as an audio and visual media have been advanced rapidly. And now we can employ several multimedia services via the Internet in which audio and visual information is exchanged. In addition to them, physical force information is expected as the next multimedia service. However, there are several fundamental issues for interactive force telecommunication, which do not appear in the conventional teleportation. We study on basic issues of force telecommunication from human sensory aspect by using two haptic interfaces with 3' DOF that have an orthodox parallel linkage, and propose a hybrid control of Master/Slave system for force telecommunication between Human beings, which has position/force feedback loop directly. Results show that both hybrid and compliance control of Master/Slave System are suitable candidates for the force telecommunication system because both force and position serve functions are essential for the system. Moreover, recognition of an operator coordinate system is clarified to be important because of force communication strong interaction, which is discussed from human sensory aspect.