著者

城越 教夫 日高 照晃 賀勢 晋司

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.66, no.646, pp.1952-1958, 2000-06-25 (Released:2008-02-26)

参考文献数

5

被引用文献数

7 7

---

Reductions of meshing and bearing clearances are requisite in design and production of small backlash planetary gears. In this case, however, there is a risk of losing proper load distribution to each planet gears, which has risk of occurrence of non-working flank load. The state of non-working flank load increases unnecessarily working flank load and gives some undesirable influences on reliability of planetary gears. To solve this problem, this paper aims to analyze quantitatively about relations between the load distribution and position deviations of planet gears. These deviations are considered to be most influential to the problem in reality. About one type of the device with 4 planet gears, 20 kinds of combination pattern of the position deviations are selected out, and the influences of backlash, reduction ratio and gear module to the above relations are clarified. Consequently, allowable position deviations to avoid the state of non-working flank load are found out for various conditions and useful materials for design are obtained.

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.2396-2402, 2008-10-25 (Released:2011-03-04)

参考文献数

30

---

The first domestically-built mine type electric locomotive is said to be the locomotive used at the Ashio Copper Mine in Tochigi Prefecture, Kanto District. Wheel arrangement of this electric locomotive was 0-4-0, and built in 1893 by Ashio Copper Mine Works. Mechanical and electric engineer relation to this locomotive building was Mr. Kumazo Miyahara who graduated at Telegram Vocational Training School of Ministry of Communications. In addition to this locomotive, other two examples of mine type electric locomotive building are introduced. In the final section of this paper, significance of domestic building of mine type electric locomotive examples are discussed from the perspective of history of technology and mechanical engineering heritage.

著者

末岡 淳男 劉 孝宏 白水 健次 江村 篤裕 中野 寛

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.70, no.689, pp.38-45, 2004-01-25 (Released:2011-03-04)

参考文献数

5

被引用文献数

4 3

---

This paper deals with the occurrence mechanism of the squeal and chatter phenomena generated in a bicycle disk brake and their countermeasures. From the results by bench test apparatus, it was made clear that the squeal is in-plane vibration in the direction of rotor surface with frequency 1kHz caused by the frictional characteristics with negative slope with respect to the relative velocity generated in the vibration system including brake components and spokes, and the chatter is another frictional vibration with frequency 500Hz in which the squeal occurring in the in-plane direction of rotor and the out-of-plane vibration of rotor due to Coulomb friction are superimposed through the internal resonance relation caused by temperature increase of rotor during braking. The measures for squeal and chatter were taken on spokes and hub, and the validity was confirmed by using bench test apparatus.

著者

屋代 春樹 高田 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.72, no.714, pp.435-440, 2006-02-25 (Released:2011-03-04)

参考文献数

6

被引用文献数

1

---

It is important to reduce the vibrations of an Interior Permanent Magnetic motor that is generally installed in electrical vehicles, fuel cell vehicles, and hybrid electrical vehicles. The purpose of the study here is to build up the torque ripple reduction methodology by controlling the working currents on IPM motor. The distributed winding IPM motor with 48 teeth on the stator and 4 pairs of poles on the rotor is treated. The relating equation between torque and three phase alternating currents is shown firstly, utilizing the torque that results from the Finite Element Analysis of the plane electromagnetic field. Secondly, high order currents are derived from the equation and superposed on the basic currents in order to reduce the torque ripple. Finally, the plane electromagnetic field analysis is performed again with the currents including the high order ones and a torque ripple reduction of more than 25 dB with a torque drop of 2.2% is obtained.

著者

岡村 茂樹 藤田 聡 荒水 照夫 池永 雅良 早川 邦夫 舟木 秀尊

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.675, pp.3137-3142, 2002-11-25 (Released:2008-02-26)

参考文献数

2

---

Most of non-rubber type isolation systems apply frictional force. One of the famous non-rubber type isolation systems is Friction Pendulum Bearing (: FPB) system. When using friction pendulum system in the open air circumstances, some have pointed out that long term durability of the systems must have been taken into account and it might have been very difficult to maintain the coefficient of friction. In this study, dynamic motion of the isolated structure model with 4 of FPB systems are investigated, especially in in-plane mode, considering a variance of friction coefficient of one system, a distribution of the mass of superstructures. The result and the analysis of the shake table test using 3-storey steal-frame model is presented in this report.

著者

森園 哲也 山田 陽滋 山本 貴久 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.69, no.679, pp.705-712, 2003-03-25

---

There are many tasks in which cumbersome protective suits or large mass of objects to be manipulated obstruct "intuitive" skills such as picking up and grasping. Workers engaged in such tasks are distressed for inefficiency or early fatigue. However, the efficiency or fatigue will be improved if they can perform their intuitive skills even in those tasks by wearing an intelligent machine. Based on this idea, we proposed the concept of the wearable robot "SkilMate". This paper proposes a new type of mechanism named "wearable HEXA" as a prototype shoulder joint of the SkilMate. This mechanism is designed wearable and to give no constraint caused by geometrical factors for a wearer, so that movements of his/her shoulder necessary for the intuitive skills are not impeded and interfered. Detail of the mechanism and its design process are described, and evaluation for an experimental mechanism manufactured along the design process is demonstrated.

著者

岡本 和也 山口 健吾 丸 典明

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.72, no.718, pp.1840-1847, 2006

被引用文献数

3

---

We propose a method for following motion control of the mobile robot by using Linear Visual Servoing (LVS). Following motion control is realized by the following motion of the body to the target object keeping a desired distance. Following motion control by using LVS is based on linear approximation of the transformation between binocular visual space and motion space of the mobile robot. Motion space is defined by translational velocity and rotational velocity of the robot coordinate system which is attached at the center of gravity of the mobile robot. Some experimental results are presented to demonstrate the effectiveness of the proposed method.

著者

若田 光一 柴田 智哉 狼 嘉彰

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.685, pp.2323-2330, 2003-09-25

---

The Canadian Space Station Remote Manipulator System (SSRMS) that consists of 7 joints has been in operation since 2001 aboard the International Space Station (ISS). The extensive operational experience of the Space Shuttle's Remote Manipulator System (SRMS), which has 6 joints, played a significant role in the design and operation of the ISS robotics. However, optimization of the ISS robotics operation for different types of tasks utilizing the unique redundancy characteristics of the 7-joint systems is still underway. In this study, we have proposed three evaluation indices for multi-joint arm configurations in order to avoid collision with surrounding structures. Based on the evaluation of operations of the SSRMS a demonstration model, it has turned out that the proposed indices are beneficial for enhancing clearance monitoring of the arm with respect to the surrounding structures. Furthermore we have proposed an operation support display to contribute to the operational safety and mission success.

著者

小島 広久 向井 拓幸

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.68, no.668, pp.1113-1118, 2002

---

Attitude synchronization is a key technology to facilitate the capturing process of tumbling satellites. Tumbling motion of the satellites is a nonlinear system and the inertia ratio of the satellite is a dominant parameter of the motion. Estimation of the inertia ratio of the tumbling satellites is thus important function for a chaser satellite to synchronize its attitude motion with the tumbling satellite motion. The present study is devoted to investigate an adaptive sliding mode control (ASMC) algorithm applied to attitude tracking maneuvers. The adaptive law added to the sliding mode control (SMC) algorithm is employed to estimate the inertia ratio of the tumbling satellite. Attitude tracking performances of the ASMC method is studied numerically to compare with those of a quaternion feedback control method and a simple SMC method. It is shown that the precise synchronization can be executed by the ASMC method even if there exist some errors between the real value of the inertia ratio of the tumbling satellite and the estimated one at the beginning of tracking maneuvers.

著者

沢 俊行 唐沢 明浩 原田 容一 清水 章弘

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.52, no.476, pp.1455-1461, 1986

---

The design method of bolted joints with gaskets is almost based on experience, and the sealing performance is not made clear by theoretical analyses. In the present paper, discussion is made on the distribution of contact stress in the bolted joints fastened with tap bolts, when a clamped part with a gasket is the cover of a pressure vessel and a circular flange. The distribution of contact stress is analyzed as a three-body contact problem, using the three dimensional theory of elasticity. Moreover, the contact stress is measured by means of ultrasonic-waves. In addition, the force ratio (the ratio of an increment of the bolt axial force to an external load) and the maximum stress caused in bolts taking account of a bending moment are analyzed. For verification, experiments are carried out, and the analytical results are in fairly good agreement with the experimental ones.

著者

章 忠 井 和章 三宅 哲夫 今村 孝 堀畑 聡

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.739, pp.642-649, 2008-03-25 (Released:2011-03-04)

参考文献数

10

被引用文献数

1 1

---

The direction of a generated sound source can be estimated by humans using the time difference between both ears and the characteristics of the sound. However, it is very difficult to create an estimation system using a computer and two microphones. Aims of this study are the achievement of three dimension sound localization with two microphones. We have developed the sound source direction estimation system, in which the sound source direction can be shown by two angles, the horizontal angle α and the vertical angle, β. The former is presumed from the difference of the arrival time when the sound progresses from the source to right and left ear, and the latter is presumed from spectrum correlation analysis using head related transfer function (HRTF). In this study, we propose a novel sound source direction estimation method, in which the feature difference of two recorded microphone signals is used. As a result, an average correct estimation rate of 96% was obtained in determining the location of 11 kinds of object sounds.

著者

逢坂 一正 藤本 真作 小野 敏郎

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.58, no.552, pp.2489-2494, 1992

---

Optimal reference trajectories for n-link robot manipulators are planned. They are generated from the performance indices which are the integral of the square of acceleration, jerk, and so on of the trajectory with respect to the control time. The optimal reference trajectories are compared through an experiment in high-speed motion control of a 2-link robot manipulator, and a good control performance is obtained in the case of higher continuity of the trajectory.

著者

綿貫 啓一 丸山 一男 大滝 英征

出版者

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.546, pp.538-543, 1992

---

Recently, the fine positioning system has been used in the mechanical industry, and has required the improvement of positioning accuracy, reduction of positioning time, increase of carrying capacity and so on. However, the existing control method for the positioning stage may cause delay of phase response or residual vibration when disturbance or overweight acts on the system or stage drives at high speed. In order to obtain the optimum control inputs, it is necessary to grasp the dynamic behaviour of the system precisely. First, this paper deals with the transient response of the positioning stage using the linear graph theory reported in the previous papers. The simulated results of transient response of the positioning stage are compared with the experimental ones, and they are found to be in good agreement. Next, a procedure which can reduce the settling time of positioning is proposed by utilizing this method. As a result, this procedure was able to reduce the settling time by 55%, as compared with only proportional control. 本文を読む・探す CiNii PDF他のリンク1図書館所蔵NII論文ID (NAID)110002380194NII書誌ID (NCID)AN00187463本文言語コードJPN資料種別論文NDL雑誌記事ID0162651700NDL記事分類機械の要素・機構学NDL雑誌分類ZN11(科学技術--機械工学・工業)NDL請求記号Z16-1056収録DBNDL NII-ELS書き出しRefer/BibIX形式BibTex形式タブ区切りテキスト (TSV)rights: 社団法人日本機械学会rights: 本文データは学協会の許諾に基づきCiNiiから複製したものであるrelation: IsVersionOf: http://ci.nii.ac.jp/naid/110002380194/

著者

金井 謙二 渡辺 崇

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.771, pp.3172-3174, 2010

参考文献数

7

---

For the human motion detection by camera, it is usually needed to use sensors and/or markers. We propose a method that does not handle any sensors nor markers, instead, that adopts optical flows. By applying this method, we can analyze synchronization between human motions and classify moving direction of crowds. The optical flows are estimated by the Lucas-Kanade method. The result of the optical flows is assigned to a hue circle, and the histogram of the hue gives information to identify human motions. Utilizing this color information makes our method robust to the environmental changes. We defined the combined Bhattacharyya coefficient and use it to detect the synchronization of the human motions. In this paper, two persons dance choreography and the results before and after the practices are quantitatively evaluated. The crowds' classification is performed depending on the moving directions of the crowds. We also describe the method to detect unusual acts. These functions are available to score the group performances in games and to detect the persons doing normal and abnormal actions.

著者

広瀬 茂男 長久保 晶彦 外山 良成

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.540, pp.2679-2686, 1991-08-25 (Released:2008-02-21)

参考文献数

12

被引用文献数

3 30

---

The configurational design for a wall-climbing robot which is capable of moving on diversified surfaces of wall and has high payload capability, is discussed, and a developed quadruped wall-climbing robot, NINJA-1, is introduced. NINJA-1 is composed of 1) legs based on a 3D parallel link mechanism capable of producing a powerful driving force for moving on the surface of a wall, 2) a CP (Conduit-wire-driven Parallelogram) mechanism to adjust the posture of the ankles, and 3) a VM (Valve-regulated Multiple) sucker which can provide suction even if there are grooves and small differences in level of the wall. Finally, the data of the trial-manufactured NINJA-1, and the up-to-date status of the walking motion are shown.

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.65, no.636, pp.3252-3259, 1999-08-25 (Released:2008-02-26)

参考文献数

5

被引用文献数

1 1

---

The precise positioning stage is ordinary mounted on the isolated table. For the positioning of its stage, PID compensator is widely used. There are many PID tuning methods, such as the ultimate sensitivity method. However, these methods are effectively applied to the plants described by "first-order lag+dead time". Then, it is difficult to realize the desirable positioning for the stage mounted on the isolated table by the simple applying of these method. Therefore, the knowledge based adhoc parameter tuning has been carried in the production field. However, this tuning easily introduces the tradeoff between the command and disturbance responses and then an adequate compromise is required. In this circumstances, we have doubts whether absolute positioning ability inherent in the stage itself is actively used. In this paper, in order to progress the positioning performance of the stage, we try to derive the tuning formulas based on Kitamori's method. The command and disturbance designated formulas are derived. Through the numerical simulation, it is clear that the practical formulation can be derived.

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

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.65, no.633, pp.1900-1906, 1999-05-25 (Released:2008-02-26)

参考文献数

16

被引用文献数

1

---

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

呉 志強 畔上 秀幸

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.61, no.583, pp.930-937, 1995-03-25 (Released:2008-02-26)

参考文献数

29

被引用文献数

6 10

---

We present a practical method of numerical analysis for optimization problems of domains in which natural vibration problems of linear elastic bodies are defined. In this paper, we apply the traction method that was proposed as a solution to the domain optimization problems to elliptic boundary value problems. The treated problems are those which determine the domain that maximizes a specified vibration eigen value, which is defined by the squared natural frequency, and that moves several specified vibration eigen values in a specified direction. Using the Lagrange multiplier method, we obtain the shape gradient functions for these domain optimization problems from the optimality criteria. We show the successful resolution of the problems of beamlike plates clamped at one end and at both ends.

著者

白仁田 和彦 林 健一郎 大坪 昭文

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.70, no.689, pp.192-199, 2004-01-25 (Released:2011-03-04)

参考文献数

10

---

This paper describes a method of giving impression words for images based on colors. 160 impression words are prepared, and colors which are strongly related to each of the 160 impression words are registered into the system in advance. In this system, we adopt Lab color space which is a color coordinate system and can obtain exact color difference between pixels and extract main colors of images based on the results of clustering in Lab color space. The number of main colors of an image is determined when the sum of pixels of the main colors is larger than 85% of all the pixels in the image, and the colors with the larger number of pixels are determined in ascending order. We propose a distance between the main colors and the registered colors. In this system mCn combinations of distances between m colors registered in an impression words and n main colors are obtained. Using the mCn distances, we calculate a minimum distance and an average distance every 160 impression words. By the comparison of the minimum distance and the average distance of each impression word, the system determines suitable impression words for the image. Experimental results show the proposed method to be effective.

著者

桜井 康雄 門井 寛人 中田 毅 枝村 一弥

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.715, pp.991-996, 2006

被引用文献数

6

---

By developing various electronic equipments with high performance, the dissipated power of electric chips used in those equipments has been increased. Therefore, it has been important to cool those electronic chips, and a liquid-cooling system has been employed for some electronic equipments. An Electro-Conjugate Fluid (ECF), which is one of functional fluids, has a remarkable property that a jet flow is generated between two electrodes when a high voltage is applied to the electrodes. By the use of this strong jet flow, a pump with simple structure, no noise and no vibration can be developed and a new liquid cooling system by ECF seems to be realized. In this study, to realize the liquid cooling system by ECF, an ECF-pump is proposed, in which four printed circuit boards are layered to make the pump size compact. The proposed pump is fabricated, and experiments are performed to investigate the basic characteristics of the pump. Furthermore, in the liquid cooling system with the proposed pump, experiments to cools a heat source are performed to investigate the possibility of achievement of the liquid cooling system by ECF.