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 4

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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

被引用文献数

3

---

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

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

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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.

著者

藤本 浩志 加藤 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.61, no.582, pp.641-646, 1995-02-25 (Released:2008-02-26)

参考文献数

8

被引用文献数

1 1

---

This paper deals with the method of controlling an A/K prosthesis which allows disabled persons to ascend a staircase. Since conventional A/K prostheses are capable of only the function of walking on a level surface, disabled persons wearing conventional A/K prostheses have been compelled to walk on stairs with unnatural posture. The research study of developing powered A/K prostheses has the important themes of not only developing the mechanism of the prosthesis but also devising the controlling method. By measuring the axial forces acting on the socket ; which is the man-machine-interface, during walking, using the six axis force-moment sensor, the torque of a disabled side hip joint was calculated. We devised the control method using this torque as the control signal. Results of clinical walking experiments showed that a subject wearing the A/K prosthesis was able to walk with a joint angle pattern similar to that of unaffected persons. Furthermore, from the results of the inverse dynamics analysis, the subject was found to generate a similar torque pattern and power pattern at his disabled side hip joint. Thus the effectiveness of the controlling method proposed in this study was confirmed.

著者

田中 幸悦 高野 賢大朗 梶谷 誠 金森 哉吏

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.634, pp.2398-2404, 1999-06-25

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The authors have proposed a marking robot which draws specific marks at designated positions on a ceiling board at construction siteS. After that, a new function was added to the robot. It is necessary to be work which draws a reference straight-line to a ceiling board in building construction sites. This report proposes about the method which makes this task do for a mobile robot. The system is composed of the standard laser, the prototype of Straight-line Drawing Unit (SLD Unit) which has a function of tracking the laser beam and a function of drawing, and the mobile robot. The robot loads the SLD Unit and moves toward the standard laser. In order to catch the standard laser beam, the robot changes its trajectory. The robot controls its two drive wheels in a way that allows each wheel to move independently, so it can trace a straight line. Based on the experiments, the robot could the task of drawing the amplitude of the straight line with an accuracy of plus or minus 1 mm when drawing a 10 m line. This paper mainly describes the SLD Unit and the wheel control, and presents the experimental results of marking by the robot.

著者

田中 幸悦 梶谷 誠 金森 哉吏 阿部 靖則

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.69, no.679, pp.676-682, 2003-03-25

被引用文献数

2

---

We are developing positioning systems for mobile robots working at construction sites. In earlier work, we investigated the use of pillars as reference points at construction sites for a position recognition system, and reported on the performance of a prototype system. To further increase the flexibility of the robot system, we have developed a new self-position measurement system for the mobile marking robot. This new system is aimed at expansion of the work area of the marking robot. The system is composed of a prototype of a laserpointer robot and a marking robot with laser-spot detectors. The marking robot uses a point of laser light projected onto it by the laser-pointer robot, placed at a reference point, to determine its position. This report outlines the method for the self-position measurements and describes the performance of the system in a field test.

著者

菱田 典明 橋本 賢樹 平山 朋子 松岡 敬 矢部 寛

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.751, pp.727-734, 2009-03-25

被引用文献数

1

---

Tapered seal is widely applied to hold lubricating oil inside the clearance at the ends of fluid film bearing utilized in precise machines such as a spindle motor of HDD system. This study aims to analyze theoretically the fundamental working mechanism of tapered seal. Applying the analysis on meniscus of fluid surface due to the surface tension cooperating with the results of computational fluid dynamics for velocities and pressure fields under the axisymmetric and steady-state condition, the mechanism of the sealing ability of the tapered seal is clarified, and an index value which represents the sealing capacity of a tapered seal is introduced. The effects of some design and working parameters, such as the taper angle of the sleeve and the initial fluid volume, on the sealing capacity are discussed through the index value. The role of the barrier film coating on the sleeve surface to the sealing capacity is also studied theoretically.

著者

小出 祐一 中川 正紀 福士 直己 石垣 博邦

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.66-71, 2007-01-25 (Released:2011-03-04)

参考文献数

9

被引用文献数

1 1

---

In vibration design, we need to estimate the damping ratio to calculate the dynamic response of a structure. In particular, an estimation of its probability distribution is important to carry out so-called probabilistic design. For this paper, we developed an estimation method using the Bayesian approach to generate the probability distribution of the damping ratio from a vibration test with a small sample size. The Bayesian approach has special significance to engineering design, where available test data is invariably limited, for the approach can systematically incorporate subjective judgments based on experience or indirect information with observed data. We supposed that the probability distribution of the damping ratio has a normal distribution. Therefore, we applied the Bayesian approach to estimate unknown parameters of the distribution. In addition, we compared this method with a method of moments classified as a classical estimation and investigated the influence of sample size by conducting an evaluation test. With the results of our analysis, we came to the following conclusions. First, he true standard deviation of the damping ratio is less than 0.4, and the prior distribution of the standard deviation ranges between 0 and 0.5. (1) The estimated probability distributions determined by the Bayesian approach and the classical approach almost fully agree across more than 40 specimens. (2) The Bayesian approach provides good agreement, less than 10 percent error, with a true standard deviation for approximately 10 specimens. Even though the prior distribution of standard deviation ranges between 0 and 1.0, almost the same accuracy is obtained for approximately 10 specimens.

著者

下山 勲

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.433, pp.1445-1455, 1982-09-25

被引用文献数

11

---

竹馬形2足歩行ロボット(BIPER-3)を試作し, 三次元的な動的歩行制御理論を提案し, その有効性をシミュレーションと実験により確かめた. この理論は, 片脚支持期の初期値さえ制御できれば, この期間内で誤差を0に修正しようとする制御を考えなくても系が安定になることに基づき, 簡単な線形フィードバック制御により実現できる.

著者

藤井 洋 丸井 悦男 江馬 諭

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.51, no.462, pp.p436-445, 1985-02

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びびり振動中のドリルの挙動を,振動特性の異なるドリルを用いて書斎に調べた.励振エネルギは,切れ刃が傾くことによって穴底面に創成される起伏の位相が,直前の切削によるそれよりおくれることにより供給されることがわかった.振動数は刃先を支持したドリルの固有振動数にほぼ等しい,切れ刃の傾きを考慮して振動発生限界を求めた結果,被削材一回転中の振動数が奇数となるときに不安定領域が存在することが見い出された.

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

畠 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.51, no.468, pp.1897-1905, 1985-08-25

被引用文献数

1

---

モーダル解析で高次モードの応答を静的応答で近似して補正する手法の有効性がすでに確認されている.本報では,この手法をモード合成法やフリーフリーの系へ拡張するために一般化座標の形で提示する.この一般化座標の意味あるいは解釈について述べた後,この一般化座標の計算アルゴリズム,この一般化座標を用いた場合の外力項の誤差の評価方法を示す.最後に,外力項の誤差が零になることを2種類の計算モデルで確認する.

著者

上西 甲朗 松久 寛 宇津野 秀夫 朴 正圭

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.697, pp.2624-2630, 2004-09-25

被引用文献数

3

---

During a car frontal collision, some part of the occupant's kinetic energy is transferred to the vehicle through the restraint system. The high ratio of the transferred energy has the advantage of protecting the occupant. This phenomenon is called "ride down effect". It is known from experience that if the deceleration of the automotive body is large in the early stages of a collision, the effect becomes large, provided that the vehicle kinetic energy and the maximum value of the automotive body deformation are same. In order to design an automotive body structure taking into consideration the ride down effect, the dynamic relation between the occupant deceleration, which is one of important injury criteria, and the automotive body structure must be studied. However, there have been few researches to analyze the theoretical mechanism of the ridedown effect in detail. In this paper, we formulated ridedown effect focusing on the protection devices using a two-degree-of-freedom model for a vehicle and an occupant. The relationship between the index of the ride down effect and the occupant deceleration caused by crashing the automotive body structure was theoretically analyzed, and an optimum automotive crash design was examined.

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

---

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

田窪 朋仁 吉岡 健伸 新井 健生 前 泰志 大原 賢一

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.75, no.759, pp.2996-3004, 2009-11-25

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Leg-wheel hybrid locomotion on rough terrain for a hexapod robot is realized by continuous transition between wheeled and legged locomotion based on sensor feedback. In basic positioning on a flat surface, the robot is supported by three legs and moves using its wheels. Upon sensing an obstacle, the robot's support and swing legs change as a tripod gait to cross over the obstacle. We define the three dimensional model of the motion on a slope for stability estimation, and its analysis indicates that the maximum obstacle height depends on the robot's height and the slope gradient. Even if the slope is steep, the robot can climb over a higher step on it by moving the robot's center of gravity (COG) based on the analysis. The experimental results on ASTERISK H confirm the advantage of proposed motion by comparing to the fixed COG motion.

著者

斉藤 俊 千葉 洋三

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.64, no.623, pp.2389-2394, 1998-07-25 (Released:2008-02-26)

参考文献数

10

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Two kinds of road racer bicycles are employed to research vibration characteristics of driving bicycles. After obtaing the natural frequencies and modes by vibration test in the non-driving state, practical driving tests are carried out. The acceleration of vibration in the middle of the handles and under the saddles are measured and the corresponding spectral density functions are calculated based on FFT method. The results show that in the driving bicycles, the dominant frequencies exist between 10 Hz and 50 Hz and the lower two modes in the non-driving state are excited.

著者

中村 友道 廣田 和生 友松 健一 高井 睦夫 岩瀬 敏彦 宇和川 誠一 班目 春樹 岩壺 卓三 齋藤 孝基

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.68, no.668, pp.1064-1072, 2002-04-25 (Released:2008-02-26)

参考文献数

7

被引用文献数

1 1

---

A partial but full-size mock-up test of practical steam-generator U-bend tubes in nuclear power plants has been carried out, where the test model has been set in a HFCF-123 fluid two-phase flow loop. U-bend tubes are supported with so-called "Anti-vibration Bars (AVB) ", which have two types of AVBs in Japan, 7-span type and 5-span one. Both types of AVBs have been examined and it is found that tubes with AVB supports shows no large amplitude vibration up to 150% flow rate to the practical condition. Basic data for the fluidelastic instability are obtained when some tubes have been set to be flexible at some contact points with AVBs.

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.66, no.643, pp.1050-1056, 2000-03-25

参考文献数

7

被引用文献数

13

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This paper describes folding methods of thin flat sheets as well as thin cylinders by modelling folding patterns through Japanese traditional Origami technique. New folding patterns have been deviced in thin flat squared or circular membranes by modifying so called Miura-Ori(one node with 4 folding lines). Some folding patterns in thin cylinders have newly been developed including spiral configurations. Developed foldable cylinders were made by using polymer sheets, and it has been assured that they can be folded very well. The deviced models will make it possible to construct foldable/developable space structures as well as to manufacture foldable bottles for beverages.

著者

服部 元史 中坊 保則 田所 諭 高森 年 山田 和人

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.66, no.644, pp.1243-1249, 2000-04-25

参考文献数

4

被引用文献数

2

---

In order to establish method to design humanoid robots' motions with fertile emotions, the authors are analysing the Bunraku puppet's motions which are generated by the experts of puppet's manupulation. The many puppet's motions with some functions and with some emotions are observed. To simplify the observed puppet's motions, each puppet's motions are divided into the motion of the puppet's axes(the main part of the motion)and the relative motion(accompaniment). In this paper, the motions of the puppet's axes are analysed. The graphs of the motions of the puppet's axes consist of same factors if the motions have the same functions even though they have the different emotions. The graphs of the same factors have similar forms, but their time length and amplitudes differ, if they have the different emotions. The above factors are computed from the data of the motions of the axes based on the wavelet coefficients of the data which express the local forms of the graphs. The authors analyse how the time length and the amplitude of the factor changes as its emotion changes. This knowledge is applied to generate humanoid robots' motions with fertile emotions from their motions with no emotion.

著者

河野 功 杢野 正明 山中 浩二 鈴木 孝 小山 浩 功刀 信

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.671, pp.2059-2066, 2002-07-25

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ETS-VII is a test satellite to perform in-orbit demonstration of rendezvous docking (RVD) technology, which will be necessary for advanced space activities in the early 21^st century. ETS-VII successfully performed autonomous RVD in the first experiment flight. But in the second experiment flight, seberal times of Z-thruster misfiring occurred and they prevented for ETS-VII to accomplish docking for three weeks. To verify all technical items, the third experiment flight was replanned on condition that firing Z-thrusters should be minimized. And we modified on-board software to continue approach in case that Z-thrusters misfiring occur. ETS-VII succeeded in the third experiment as the result of these countermeasures. We present replanning of the third experiment flight and its result in this paper.