著者

菅野 隆 田所 諭 服部 元史 高森 年 小黒 啓介

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.598, pp.2299-2305, 1996-06-25 (Released:2008-02-26)

参考文献数

4

被引用文献数

5 7

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An ionic conducting polymer gel film (ICPF) atuator is a composite of a perfluoro-sulfonic acid membrane sandwiched between platinum layers. Bending motion is induced by applying voltage between the surfaces in water or in wet conditions. This phenomenon was discovered in 1992. After reaching the maximum displacement toward the anode immediately, the actuator bent back to the cathode side, and approached the initial position gradually when a step voltage was applied. Current through the actuator decreased exponentially. The maximum displacement was proportional to the magnitude of the step voltage. Motion induced by a step current was almost the same as that induced by a step voltage but was slower. Voltage induced by the current increased gradually and reached a certain value, then increased once more to a steady voltage. The motion did not depend on the direction on the surface. The bending occured in all directions. Larger displacement was observed near the electrode. Dynamics of the actuator was expressed in terms of a 4th-degree transfer function by black-box linear modeling. Simulation results were in good agrrement with the experimental results.

著者

伊東 弘一 赤木 新介 太田 雅晴

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.48, no.431, pp.998-1004, 1982

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地域暖房の熱輸送システムの設計計画問題において, (イ)配線系サイズの縮小化, (ロ)ポンプ規模の縮小化および(ハ)熱交換器系サイズの縮小化という設計目標をそれぞれ独立した目的関数として考え, 一つの非線形多目的最適化問題として定式化した. 上記問題に対し, 計算機を対話形式で援用してシステム構成機器の主要設計要目を合理的に決定する一手法を提案し, 設計事例を通じてその有効性の検証と最適解の特徴を検討した.

著者

田中 直行

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.638, pp.4213-4215, 1999-10-25 (Released:2008-02-26)

参考文献数

4

被引用文献数

1 1

---

In the new method of calculating elliptical Hertz contact pressure described here, an elliptic integral is not necessary. Even the simplest numerical integration yields a Hertz contact pressure within 0.005% of the theoretical spherical contact pressure. Dimensionless parameters calculated using this method agreed well with the values given in the references. Elliptical Hertz contact pressure can thus now be calculated using a spreadsheet program for personal computers.

著者

原 豊 酒向 俊明 水原 晋 新美 智秀

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.619, pp.972-978, 1998

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Optical novelty filter based on the two-wave mixing in a photorefractive BaTiO<SUB>3</SUB> crystal is applied to motion detection for the purpose of its application to the robot vision. A simple method is proposed to realize the reflex vision system that a human being possesses. Our method uses a photo detector array to detect the output from the optical novelty filter and the detector element that obtains the highest signal is selected. By simulations using a simple animations, it is showed that the larger or the faster object can be detected in higher probability. Tracking a moving object is demonstrated with a 2&times;2 photo-transistor array and the selective circuit including the exclusive gate circuit.

著者

山口 智実 樋口 誠宏 矢野 章成 藤田 和正

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.674, pp.3115-3121, 2002

被引用文献数

1

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This paper presents a new and effective assembly model by using a fixture with passive RCC function. Previously, in a peg-in-hole task, such functions for skillful assembly as RCC, contact force sensing and so on have been supplied to a "peg-device" like a hand-manipulator, not a "hole-device" like a fixture. Therefore the characteristics of a fixture with passive RCC function in this task is investigated in this paper. The peg-in-hole task model by using the "RCC fixture" is constructed on vertical (x-z) plane. And the performance of this task is investigated by the quasi-static analysis, which was proposed by Whitney, to evaluate the characteristics of it. From the results of the analysis, it has been made clear that the RCC fixture has shown the insertion behavior unlike conventional RCC applied to a peg near the entrance of hole.

著者

山口 博明 新井 民夫

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.70, no.691, pp.774-781, 2004-03-25 (Released:2011-03-04)

参考文献数

6

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This paper presents a novel path planning methodology using Bezier curves for a cooperative transportation system with two car-like mobile robots. We first transform the kinematical equation of this transportation system into two-chain, single-generator chained form in a coordinate system where a path is a curved line axis and a straight line perpendicular to the tangent of the path is another axis. The carrier of the transportation system can follow any path as long as its curvature is two times differentiable. The orientation of the carrier is uniquely determined according to the orientation of the tangent of the path. We secondly set the path to be a Bezier curve and we arrange the controlling points of the Bezier curve based on the working environment of the transportation system, e. g., in order for it to avoid collisions wit obstacles. The validity of this path planning methodology is supported by computer simulations.

著者

長南 征二 江 鐘偉 増井 慶次郎

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.60, no.570, pp.p498-505, 1994-02

被引用文献数

1

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Deformation control of a silicon-wafer slicer cutting a crystal ingot is studied analytically. The thin rotating blade is clamped at the outer boundary and prestressed in the radial direction, while the inner periphery is subjected to stationary, distributed in-plane and lateral slicing loads from the workpiece. The deflection of the blade is obtained analytically by introducing the multi-model expansion method, further applying the Galerkin method to the governing equations of the system. Numerical results are presented for an actual SUS 301 blade cutting a 6"-diameter silicon ingot at a speed of 1550 rpm. Two control schemes that maintain the flatness of the rotating blade are examined in detail. In the first scheme, a pair of concentrated lateral forces are applied to the blade to reduce the blade deflection. In the second scheme, a pair of moments are also applied to the blade to improve the flatness of blade. Simulation results obtained show that the application of control moment is more effective than the simple lateral forces to the improvement of flatness of the slicing blade.

著者

堀 光平 林 巌

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.60, no.579, pp.3940-3947, 1994-11-25 (Released:2008-02-26)

参考文献数

10

被引用文献数

1 1

---

Mechanical paradox planetary gears are suitable for power transmissions of current robots, such as space manipulators, which drive large-inertia loads, because the gears offer high reduction ratio, small size, light weight and high reliability. However, mechanical paradox planetary gears are subject to a drawback in that their efficiencies are lower than those of conventional planetary gears. The efficiencies of mechanical paradox planetary gears are hence theoretically analyzed and evaluated by defining the tooth number modification of a planet gear to deal with all the possible combinations of tooth numbers. The following results are obtained : the efficiencies are greatly influenced by the efficiencies of the planet and internal gear pairs ; the maximum efficiencies are minimally influenced by the reduction ratio, and they are obtained when the factors of the contact ratio of the gear pairs are approximately equal ; the maximum efficiency is approximately 78% if the tooth surface friction coefficients are 0.1.

著者

小松﨑 俊彦 岩田 佳雄

出版者

日本機械学会 = The Japan Society of Mechanical Engineers

雑誌

日本機械学会論文集C編 / Nihon Kikai Gakkai Ronbunshu, C Hen / Transactions of the Japan Society of Mechanical Engineers, Part C (ISSN:03875024)

巻号頁・発行日

vol.78, no.786, pp.420-430, 2012-01-01

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In this study, a virtual sound production system is developed where the difference frequency component appears as the secondary audible sound at a point of interference locally by the nonlinear interaction of two independently radiated ultrasounds while they travel directionally and intersect each other. The design of high-directive ultrasonic radiator, followed by the investigation of virtual sound production performance has been done theoretically as well as experimentally. It is known from these investigations that the fairly local sound reproduction in free space is possible, yet the sound pressure level of the secondary field is small. The results have also shown that the generated virtual sound area is dependent on both the difference frequency and the intersection angle of two carrier waves emitted by two sound sources. © 2012 The Japan Society of Mechanical Engineers.

著者

大舘 淳 岩原 光男 鈴木 芳 長松 昭男

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.72, no.718, pp.1751-1758, 2006-06-25 (Released:2011-03-04)

参考文献数

12

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Recently, solving vibration problems in the prediction step is strongly required to shorten the development time. The purpose of this research is to clarify and improve vibration characteristics of products such as sporting goods by experiment and calculation. A familiar tennis racket was chosen and its vibration characteristics were investigated by actual impact test and experimental modal analysis. It was clarified that the largest vibration was generated at the first mode. Structural optimization of the simplified plate could diminish the peak by shifting the node of the mode to the excitation response point. Design variables were the masses given to the circumference or the thickness of elements.

著者

佐藤 建吉 白井 靖幸 赤坂 拓郎

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.2429-2434, 2008-10-25 (Released:2011-03-04)

参考文献数

8

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The working model of Brunel's atmospheric railway (BAR) was made and demonstrated at a museum event and a university festival event. The original system of BAR was run commercially in England for a year during 1847-1848. The driving system of BAR is very simple but there were many difficult problems in working service. In this paper, the authors made the working model of BAR to realize and show the Brunel's challenge : the driving mechanism, the design know-how, the dream and passion, etc. The all person played with and watched at the model enjoyed very much due to the running by a vacuum cleaner. The present paper describes the summary the detail of the model, such as materials, sizes and shapes, performance, problems, and further applications.

著者

皆川 佳祐 藤田 聡 遠藤 六郎 雨宮 満彦

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.752, pp.837-844, 2009

参考文献数

8

被引用文献数

1 2

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In this study, vibration characteristics of mechanical structure having high natural frequency are investigated from the viewpoint of energy balance. Mechanical structures having high natural frequency in a nuclear power plant are generally designed statically and elastically. However it has been reported that fracture of ordinry piping is produced not by momentary large load but by cumulative fatigue damage. Therefore it is very imortant to grasp seismic performance dynamically by considering cyclic load. This paper deals with an investigation regarding seismic performance evaluation of high natural frequency mechanical structure. The energy balance equation that is one of valid methods for structural calculation is applied through the investigation. The main feature of the energy balance equation is that it explains accumulated information of motion. Therefore the energy balance equation is adequate for the investigation of the influence of cumulative load such as seismic response. In this paper, vibration experiment and simulation using sinusoidal waves and artificial seismic waves were examined in order to investigate relationship between natural frequency of structure and energy. As a result, we found that input energy decreases with an increase in the natural frequency.

著者

佐藤 準一

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.64, no.627, pp.4109-4114, 1998

著者

丘 華 久保 明雄 林 長軍 黎 子椰

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.690, pp.531-538, 2004-02-25 (Released:2011-03-04)

参考文献数

6

被引用文献数

1 1

---

In NC machining of noncircular contours, where cutter is fed along a straight line intersecting perpendicularly the roration axis of work piece, the cutter path usually consists of Archimedes's spiral segments. From machining precision and efficiency point of view, a desired cutter path should be composed of the fewer segments as possible under the condition of satisfying the specified interpolation error limitation. In this paper, an optimal interpolation principle of Archimedes's spiral for planar curves is presented and then a practical algorithm is constructed. The segment number of the cutter path resulted from the algorithm not only is the fewest but also the interpolation accuracy agrees with the specified value. It is also evidenced that the profile error of machined contour corresponding to the cutter path is perfectly controlled within the desired value, i. e. the specified interpolation error value, through detailed analyses. The interpolation results of using the presented algorithm for machining disc cam profile are compared with those obtained by Nishioka's methods (3) . The comparison results sufficiently confirm the validity of the algorithm developed by the authors.

著者

山藤 和男 越山 篤 三沢 智一 奥田 紳太郎

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.59, no.564, pp.2368-2375, 1993-08-25 (Released:2008-02-26)

参考文献数

8

被引用文献数

1 2

---

The authors have investigated a parallel bicycle-type mobile robot which has a controlling arm and a working arm. In the previous papers, control methods for postural stabilization and several kinds of motion and experimental results for this vehicle were reported, in which basic movements including driving, standing up and falling down as well as use of working using the working arm were shown. However, the working capability was insufficient because the former working arm was constructed of only one link. In this study, a new type of vertical two-link working arm constituting of an overarm (first link), forearm (second link) and hand (gripper)was developed. A newly devised double-clutch mechanism is installed on the joint between the overarm and the forearm. It can be switched using wire actuators made of shape memory alloy (SMA). With the use of the clutch, rotation of the forearm and the hand is realized by switching the electric current provided for the wire actuators. Gripping motion of the hand is also attained by use of another SMA wire actuator. With the three kinds of wire actuator, we developed a lightweight working arm. This paper describes mechanisms of the working arm and motion control methods. Experimental results for motion using the working arm and postural stabilization of the robot by the controlling arm are also given. It is confirmed experimentally that the inverted pendulum-type mobile robot with the working arm developed in this study shows potential for use in the new automonous land vehicle.

著者

山中 将 前田 英喜 井上 克己 張 新月

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.734, pp.2805-2810, 2007-10-25 (Released:2011-08-16)

参考文献数

11

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This paper deals with the radiated noise of strain wave gearing, which is a kind of K-H-V type planetary gears having features of lightweight and high reduction ratio. The vibration of Flex Spline (F/S), which is the element of strain wave gearing and has a thin circular cup, is considered as a main factor of the noise. The magnitude of sound power is expected to become large in proportion to the square of the amplitude of displacement of F/S in the radial direction theoretically. The displacements of 3 kinds of models are calculated using FEM. The vibration of F/S and the sound power are measured using the F/S fixed type experiment apparatus. It is confirmed that the relation between the vibration of F/S and the sound power are agreed well to the theory and the vibration of the F/S causes the radiated noise mainly. Moreover, the radiated noise with changing a rotary speed, a loaded torque and an assembly error are measured and examined. The influence of rotary speed and torque is characterized by dependence of the deformation of F/S. The noise become large with the increase of the assembly error, but the amplitude of displacement is not increased. This is analyzed by a resonance between F/S and experiment apparatus.

著者

西原 修 松久 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.63, no.614, pp.3438-3445, 1997

被引用文献数

23

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Fixed points design methods for dynamic vibration absorbers are very well-known in the field of vibration control and commonly applied for practical absorber design. However, they must be understood to be approximation methods from the point of view of their design criterion that the resonance amplitude magnification factor is minimized. In this study, the exact algebraic expressions of optimum tuning and damping parameters for the minimization of the largest resonance amplitude magnification factor of linear dynamic vibration absorbers have been derived for undamped primary systems. The existence of two equal height resonance points is reduced to a multiple root condition of an algebraic equation. The determinant is handled as an equation with respect to the resonance amplitude. It has became very clear that the fixed points theory design by Brock is highly accurate. In particular, it exhibits very small error in the practical mass ratio range, e.g., below unity. Algebraic solutions also exist for the resonance frequencies and the anti-resonance frequency. A numerical extension of the method is introduced in order to investigate the optimization problem for damped primary systems.

著者

浅見 敏彦 細川 [ヨシ]延

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.915-921, 1995

被引用文献数

6

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This paper proposes an expression for design of optimal dynamic absorbers attached to damped linear systems. The classical expressions were derived from the assumption that the primary system has no damping. There are two optimization criteria in the design of the dynamic absorber : the fixed-points theory and the minimum variance criterion. In the fixed-points theory, the dynamic absorber is optimally tuned and damped with respect to the primary system so that the two resonant amplitudes of the main mass are equal. On the other hand, in the latter criterion the area under the power spectrum density curve of the main mass is adjusted to take the minimum value. The new expression proposed in this paper is based on the fixed-points theory. However, there are no fixed points in the resonance curves of the damped linear systems, so the analytic procedure becomes impossible. Therefore a perturbation method is used to obtain the expression, and the accuracy of the solution is discussed.

著者

佐藤 準一

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.64, no.627, pp.4109-4114, 1998-11-25 (Released:2008-02-26)

参考文献数

32

著者

佐藤 祐 橋 弘矩 若林 雄介 永瀬 和彦

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.59-65, 2007-01-25 (Released:2011-03-04)

参考文献数

8

被引用文献数

1 1

---

The authors proposed a new method which could easily and precisely detect the contact point position between the rail and the wheel under the critical condition of wheel climb derailment. As the result of the experiment using the above mentioned method, they found that the position was variously changed according to rail attack-angles and wheel lift-up values from the rail tread. The next, employing the contact point position, a new conception was proposed to theoretically calculate the wheel lift-up value from the rail tread when a wheel climb derailment occurred. Using a model track and a model truck, experimentation was done to examine the difference between the theoretically calculated value and the practically measured one on the wheel lift-up value. The result obtained was very much in agreement with the theoretically calculated value and the practical lift-up one.