著者

大須賀 公一

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.72, no.716, pp.1015-1020, 2006-04-25

著者

佐々木 圭司 Brata Akas Sureng 島地 重幸

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.62, no.599, pp.2779-2784, 1996-07-25

参考文献数

11

被引用文献数

1

---

Recently, the robot assembly industry requires research that deals with flexible parts using human-like skills. We discuss cylinder insertion into a hole of a flexible rubber plate. We show that the magnitude of the insertion force expresses a parabolic field in the three-dimensional space that is composed of position and posture of the cylinder. The parabolic field has a tunneling path from which we can obtain the local minimum insertion force. The tunneling path seems to correspond to the position and posture of cylinder insertion by human skill. This paper proposes a new search method for the tunneling path. The method uses a simple regression model that fits the parbolic field to a narrow zone. The fitting zone shifts as the cylinder insertion advances. Experimental results show that the regression method is a possible search method for the tunneling path.

著者

後藤 篤祉 木田 智晃 水戸部 和久

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.75, no.760, pp.3253-3260, 2009-12-25

---

On the purpose of achieving a human-like high energy efficient walking robot, many research projects use actuators attached on the waist or ankle joints of passive dynamic walking mechanisms. While on the other hand, we developed another type of semi-passive walking robot that is driven by the harmonic oscillation of a spring-mass system. In the mechanism, spring forces are generated at both sides of the robot by the simple harmonic motion of a spring-mass system which is oscillated by a small sized servo motor. The spring forces control the ZMP (Zero Moment Point) in the lateral direction, in sync with the swing leg, which is generated by the same forces as well. Choosing the gait cycle at the resonance frequency, significant decrease of the motor power and energy consumption is possible. Gyros, micro switches and wire displacement sensors are attached to the robot for measuring the angle of the legs, foot contact and spring extension. Gait cycle, spring forces, ZMP in the lateral direction are analyzed based on the measurements.

著者

前澤 成一郎 天摩 勝洋

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.472, pp.3203-3210, 1985-12-25

---

擦弦の振動は,弦の曲げこわさおよび内部摩擦によって大きな影響を受ける.これらの影響は種々論じられているが,擦弦の振動を固体摩擦特性の負の減衰と空気抵抗,内部摩擦などの正の減衰のバランスという本来の自励振動の立場で解析した研究は見当たらない.本論文は級数変換を伴うフーリエ級数解法によって,以上の点を解明する解析をおこなったものである.

著者

村野 健一 吉田 和夫

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

巻号頁・発行日

vol.69, no.686, pp.2580-2587, 2003-10-25

参考文献数

8

---

The container crane of the harbor received the enormous damage in the Hanshin Awaji great earthquake disaster. After that, the container crane with seismic vibration isolation system has been developed and operated in practical use. We proposed the rocking type of vibration isolation sysem (RVIS) for the container crane instead of the horizontal type of vibration isolation system that is used in bridges and building. It was found that the damping factor of RVIS mechanism has the particular values for the different natural vibration modes. In this paper, we propose the application of a semiactive control system to the RVIS mechanism to improve the isolation performance and operation efficiency. The Kalman filter in used to estimate the system state values. The results of the isolation controlled by the semiactive system are better seismic isolation in performance than the passive RVIS. And we show that the semi-active RVIS can be used in the operation of the container crane.

著者

藤岡 健彦 井口 雅一

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.51, no.466, pp.1255-1263, 1985-06-25

---

車輪踏面形状は円弧と直線とを組合わせて設計されることが多いが,このような踏面形状に欠点が少なくない.歯車のインボリュート曲線のようになんらかの理論的な根拠をもった曲線を使って踏面形状を構成することにより,これらの欠点を是正することを試みた.トレッド部には輪軸が左右に移動してもHertz圧が変化しない曲線を,フランジ部には輪軸がヨ-イングしても2点接触をおこさない曲線を使用することを提案した.

著者

三船 博史 柳 正治 中村 俊浩

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.466, pp.1264-1272, 1985-06-25

---

本報は車輪踏面とレール頭面の設計に関するものである.現在の形状には複点接触,フランジ衝撃などに問題があると思われる.著者は車輪とレールの接触点位置と輪軸の横変位あるいは上下変位,ローリング角などの関数関係を任意に設定して,(1)車輪踏面形状とレール頭面形状を,(2)既定のレールに対して,車輪踏面形状を,積分(解)曲線で求める公式を導出した.特に後者に関しては数種の算出例を示し,走行性を検討した.

著者

長屋 幸助 王 宇 小島 多香子 福室 允央

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.1141-1148, 2004-04-25

被引用文献数

1

---

It is important jobs to change diapers for a bedridden patient. Changing diapers hurts prides of the patient, so that a panty toilet, that can be worn to the patient, is of importance, in which feces and urine are washed automatically. In this study, a new-type automatic washing panty toilet system is presented. The system consists of a rubber made panty toilet with tubes at both thighs and a torso, and the control system. In the panty toilet, air expands the tubes, and water leakage is prevented when washing water being inserted in the toilet. Warm air dries in the panty toilet after washing. The control system is constructed, which washes in the toilet automatically. Experimental tests have been performed. It is ascertained that the proposed system is applicable, in principle, for practical use.

著者

藤川 猛 今西 悦二郎

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.67, no.656, pp.929-934, 2001-04-25

被引用文献数

1

---

A precise and stiffly stable time integration method with numerical dissipation is presented for solving MCK type equations of motion. Its algorithm is assumed that acceleration during time step is expressed as a quadratic function. Stability and accuracy are investigated by numerical analysis to find out the best parameter values of the algorithm. Characteristics of this method are compared with other methods such as Newmark, Wilson, HHT-α method, etc, which showed that this method has much better accuracy for low frequency modes, and strong dissipation for high frequency modes. Some calculation examples are shown.

著者

加藤 孝久 堀 幸夫

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.53, no.495, pp.2380-2386, 1987-11-25

被引用文献数

1

---

This paper presents a new method for solving the Reynolds equation with a matrix form, in which the Reynolds equation is reduced analytically without approximation to infinite dimensional linear equations with unknowns related to eigen values of operator R=▽・[(h^3/6η)▽]. The paper also presents applications of the method to journal bearing problems under two boundary conditions : one is the half Sommerfeld condition and the other is the quasi Reynolds condition which assures 'continuity of the bulk flow' across the boundary. It will be shown that the present method requires much less computational time than FDM for obtaining accurate predictions.

著者

村上 和男

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.733, pp.2456-2463, 2007-09-25 (Released:2011-03-04)

参考文献数

12

---

It is specially analyzed about the problem of the pitch of stationary sound in the acoustic analytic subjects of brass instruments. It is modeled as a combination of the conical horn elements for the trumpet. First, the end of mouthpiece is set as the closed end, the resonance frequency is calculated as a characteristic value of the modeled trumpet by the technique of Cavity Resonance. Next, when it is played, the effective input impedance at the end of mouthpiece and those relative angles are calculated. Based on these characteristics, quantitative examined considerations are added to the playing methods, and a blowing pattern is set up. Furthermore, it is calculated the virtual additional length for the end of mouthpiece. It is examined correspondence with the playing methods of brass players. This playing method is taken into consideration, the CAD system for the pitch design of trumpet is built, and a suitable example to the pitch design is shown, with the utility of the system. The validity of a blowing pattern is shown.

著者

磯田 隆司 陳 鵬 光武 伸一郎 豊田 利夫

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.65, no.636, pp.3282-3289, 1999-08-25 (Released:2008-02-26)

参考文献数

8

被引用文献数

2 2

---

This paper presents an Omni Directional Mobile Robot which can run on off road and run over an obstacle. The robot is constructed with four crawler-roller-motor-units and called "roller crawler-type of omni-directional mobile robot". Each crawler-reller-motor-unit can be driven independently and the motion of the robot can be controlled by the speed of motors. We also designed a position and velocity control system for the robot. The robot can be automatically controlled to run in optional direction and to track an orbit. The efficiency of the mechanism and the control method has been verified by many practical running tests and computer simulations.

著者

遠藤 央 廣瀬 健治 平田 泰久 小菅 一弘 菅原 雄介 鈴木 公基 篠塚 博之 新井 浩幸 阿久根 圭 神林 隆

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.75, no.755, pp.2028-2035, 2009-07-25 (Released:2017-06-09)

参考文献数

23

被引用文献数

3 3

---

We propose a novel car transportation system termed as iCART (i__-ntelligent c__-ooperative a__-utonomous r__-obot t__-ransporters). This system transports cars using two robots that move in coordination. This car transportation system can transport cars of any size and offers various functions such as parking, valet parking, towing service, and the transportation of cars inside a factory, onto a ferry, and in complicated parking areas. The robots in this car transportation system comprise three modules: the mobile base module, the lifter module, and the connecting module. This paper describes the details of the operation mechanism and the basic algorithm of each module. A leader-follower-type distributed motion control algorithm is applied to the proposed system and is used in an experiment performed to verify the validity of its function.

著者

小浦方 格 守山 光三 原 利昭

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.665, pp.101-108, 2002-01-25 (Released:2008-02-26)

参考文献数

16

被引用文献数

2

---

It is important for senior brass instrument players to study the detailed control parameters for embouchure building. While many investigators have reported the preliminary data on the muscle behavior, the precise aspects are unrevealed so far. The purpose of the present paper is to study dynamic perioral muscle behavior of French horn players and to investigate their lip valve function by measuring the contact pressure on teeth buccal surface during playing. It was shown from the experimental results that the advanced players contracted depressor and levator angulioris especially for high tone playing. The combined contraction by these muscles may contribute to smaller lip aperture formation appropriate for higher tones. Inversely a strong contraction of m. buccinator was found insignificantly from the results for the advanced players while it is well known that m. buccinator contracts hard during playing.

著者

前野 隆司 小林 一三 山崎 信寿

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.607, pp.881-888, 1997-03-25 (Released:2008-02-26)

参考文献数

14

被引用文献数

29 27

---

There are several tactile receptors at specific locations in the tissue of human fingers. In this study we calculate in detail the deformation of finger tissue when a finger comes into contact with a rigid plate using a FE (finite element) model in order to clarify the reason for the precise location of the receptors. The FE model is constructed using the measured geometry and properties. As a result, we found that the strain energy is concentrated at tactile receptor locations. When a frictional force is applied, the stress/strain is concentrated near the edge of the contact area. By calculating using models with/without epidermal ridges/papillae, we found that the shape of the epidermal ridges/papillae influences the stress/strain distribution near the tactile receptors.

著者

佐々木 浩一

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.57, no.539, pp.2211-2216, 1991-07-25 (Released:2008-02-21)

参考文献数

6

被引用文献数

2 1

---

To upgrade the riding comfort of the 0 Series Tokaido-Sanyo Shinkansen electric multiple-unit train, the suspension components of the bogies are successfully developed which improve the damping ratio of lateral body hunting motion. The result of field tests shows that the frequency of lateral body acceleration decreases about 1/1O as compared with the original bogie.

著者

松丸 隆文 福山 聡 佐藤 智祐

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.724, pp.3863-3870, 2006-12-25 (Released:2011-08-16)

参考文献数

31

被引用文献数

3 6

---

This paper proposed the model to estimate the load on the lumber vertebra considering not only the value presumed from posture but also the increased amount by Valsalva maneuver of extrapolating from the vital capacity. The pressure force can be estimated to be reduced by about 30% by the effect of the abdominal pressure by using the proposed model as said so far. From the error of the presumed value of ground reaction force from an actual measurement, it is thought that the presumed accuracy of the lumbar vertebra load using the proposed model is smaller than 10%. Furthermore, two operations with extreme start-on posture were compared on transition of the compressive force and shear force on the lumbar vertebra. It was brought out that a start-on posture signficantly affects the maximum load on the lumber vertebra. The result suggests that optimal start-on posture may be between two postures.

著者

大島 徹 藤川 智彦 熊本 水頼

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.65, no.635, pp.2837-2844, 1999-07-25 (Released:2008-02-26)

参考文献数

13

被引用文献数

4

---

Animals have various muscular as power souses and they, living in the gravitational environments, have very similar basic muscular arrangements in their muscular arrangements reflecting differences in their locomotive life styles. We have reported that the coordinating muscular activities among the three pairs of antagonistic muscles contributed to the output force direction control, in all round (360°) direction, the force/position control and the stiffness control at the endpoint of the extremities. In the present paper, relations between the differences in the muscular arrangements in animals and the differences in the characteristic differences in their locomotive styles were analyzed in terms of functional anatomy and of control engineering. The results obtained that the muscular arrangements in animals was reflected in their locomotive styles. All animals had the essential muscular arrangements to realize the force and the stiffness properties at the endpoint of the extremities.

著者

松本 金矢 鈴木 浩平 小林 朗

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.57, no.536, pp.1107-1112, 1991-04-25 (Released:2008-02-21)

参考文献数

5

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A method for FEM eigenvalue problems of symmetrically laminated composite shells is developed by formulating a 15 d. o. f. flat triangular shell element under the assumption that the transverse normal strain is linear in a symmetrical lamination. A shaking test using CFRP cylindrical shells is conducted, and experimental results obtained through the test are compared with analytical ones by the proposed method. As a consequence of the experiment, vibration characteristics of symmetrically laminated Composite shells are obtained, and the validity of the proposed method for laminated composite shells is proven.

著者

西原 修 平岡 敏洋 熊本 博光

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.714, pp.537-544, 2006-02-25 (Released:2011-03-04)

参考文献数

15

被引用文献数

11 11

---

The present paper discusses the driving/breaking force distribution for direct yaw-moment control (DYC) of the independent steering vehicle. The objective function is the maximum value of the tire workloads. In the case of conventional four wheel steering vehicle, the algebraic expressions of the optimum driving/breaking force distribution have been derived by the authors. Based on the previous results, the optimization algorithms for the independent steering vehicle are newly developed. For the front independent steering vehicle, the binary search is employed, and this online algorithm is combined with the golden section search method for the independent four-wheel steering vehicle. The convergences are guaranteed by the convexities of these optimization problems. Numerical simulations with CarSim, a popular multi-degree-of-freedom vehicle model, are performed to prove effectiveness of the proposed control schemes.