著者

広瀬 茂男

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.60, no.7, pp.914-919, 1994-07-05 (Released:2009-06-30)

参考文献数

13

著者

飛田 和輝 大平 貴之 梶谷 誠 金森 哉吏 明 愛国

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.67, no.1, pp.96-100, 2001-01-05 (Released:2009-04-10)

参考文献数

9

被引用文献数

1 1

---

In this paper, a new kind of rotary encoder based on magneto-optical storage method is proposed. By using this method, a rotary encoder with small size, high accuracy and high response can be realized. MO encoder is more advantageous than a magnetic scale and optical encoder according to its high response and its high accuracy, respectively. High accuracy can be achieved by rerecording, therefore the error is corrected. Following issues are described: (1) A device for record, playback and evaluation of accuracy of MO encoder has been developed. (2) A necessary condition for record and playback for MO encoder was experimentally derived. (3) The MO encoder made for trial purposes was recorded by 2250 pulses per revolution directly from the referential encoder, as a result, accuracy of 2.5" and reproducibility of 0.079" were achieved.

著者

飛田 和輝 大平 貴之 梶谷 誠 金森 哉吏 明 愛国

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.67, no.12, pp.1976-1980, 2001-12-05 (Released:2009-04-10)

参考文献数

5

被引用文献数

1 1

---

The feasibility for fabricating a magneto-optical rotary encoder (MO encoder) has been shown in our previous paper. In this paper, an error corrected recording method to improve accuracy of the MO encoder is described. The recording method utilizes one feature of MO encoder, that is, ability for re-recording. First, an initial recording is made directly from referential encoder to MO encoder and angular errors of the MO encoder are measured. According to the errors, correcting values for canceling the errors are calculated based on Fourier components analysis. Finally, the MO encoder is re-recorded by the correcting values after erasing the initial recording. As the result of experiments, an accuracy of 1.3" for 2250 pulse/rev. and 1.7"for9000 pulse/rev. was achieved by using the error corrected recording method.

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.77, no.4, pp.378-379, 2011-04-05 (Released:2011-10-05)

参考文献数

8

著者

牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.71, no.9, pp.1103-1103, 2005-09-05 (Released:2009-04-10)

著者

牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.71, no.11, pp.1362-1362, 2005-11-05 (Released:2009-04-10)

著者

寺田 英嗣 牧野 洋 今瀬 憲司

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.63, no.11, pp.1609-1613, 1997-11-05 (Released:2009-06-30)

参考文献数

6

被引用文献数

2

---

It is important to eliminate the backlash and to reduce inertia for high accuracy linear motion system. For this reason, the trochoid cam rack has been developed. The profile undercut must be avoided to satisfy the required performance. So this rack profile is ground using trochoid curve loci. In this report, the motion principle has been analyzed, and it becomes clear that there is the optimal value of rack profile offset factor which affects on pressure angle and radius of curvature. Also, roller diameter and tooth height affects on those characteristics. The optimal cam rack without profile undercut is designed using the selected each design factor. The prototype cam rack system using optimal design value is made and tested. It is proved that the system has high positioning accuracy without backlash.

著者

明 愛国 張 同庄 山本 唯司 古屋 信幸 村田 誠 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.55, no.9, pp.1615-1620, 1989-09-05 (Released:2009-10-08)

参考文献数

5

---

The spherical SCARA robot is a newly developed robot for the operation on curved surface, especially on a sphere. In the previous report the basic concepts and characteristics are analysed. In this report the construction and specification of the prototype of the spherical SCARA robot are discussed. Then the hardware and software for controlling the prototype are considered. An arbitrary motion curve can be used to move arms and three axes are driven synchronously by the softwared DDA to obtain smooth movement. The methods to obtain large circle path and straight line path on the sphere are shown. It is possible to obtain any other paths by the method, as an example the stitching curve of the baseball is obtained.

著者

明 愛国 清水 晃 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.60, no.1, pp.91-96, 1994-01-05 (Released:2009-06-30)

参考文献数

3

---

A robot machining system for industrial art objects has been developed. The objective of the system is both to make good use of technical skill of artist or artisan, and to realize the automation of machining of industrial art objects. The developed system is composed of three units: (i) input unit to record the machining data of artist or artisan directly, or to measure the model of an industrial art object; (ii) data processing unit to generate and modify model from the input data, and to transform model data into machining data; (iii) machining unit to machine industrial art objects according to obtained machining data. In this paper, the general philosophy about the system is given, and the construction of developed system, design policy and functions of each unit are described. An example of machining experiments is given to show the practical availability of the system.

著者

寺田 英嗣 石田 和義 地場 広幸 牧野 洋 入江 禀三

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.67, no.11, pp.1829-1833, 2001-11-05 (Released:2009-04-10)

参考文献数

7

被引用文献数

1

---

Trochoidal sprocket for roller chain drive system has been developed which is used for a positioning mechanism. This system consists of a conventional roller chain and a pair of trochoidal sprockets. These sprockets are generated using trochoidal loci, which the tooth profile is shifted. Especially, the developed system can eliminate backlash In this report, the kinematical tooth profile conditions are analyzed. Also a prototype of a trochoidal sprocket is constructed using the optimal values and is tested for the positioning performance. It is proved that the positioning performance can be improved using the developed sprockets, compared with the case of using conventional one.

著者

蘭 豊礼 玉井 博文 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.76, no.10, pp.1194-1199, 2010-10-05 (Released:2011-04-05)

参考文献数

9

被引用文献数

2 10

---

This paper describes trajectory design using clothoid segments. As a trajectory path, clothoid is superior to the other curves because its curvature varies linearly with its curve length. However, a single clothoid segment is not able to match both tangent and curvature designation at its terminals because it has no sufficient parameters. In our study, “triple clothoid” is introduced to match both tangent and curvature designations. The triple clothoid is a set of three clothoid segments connected internally with curvature continuity. It has sufficient parameters needed for tangent and curvature matching at its terminals. The triple clothoid segments are used to construct a smooth transition passing through arbitrary point sequence. The resultant trajectory possesses curvature continuity and matches all tangent and curvature designations at the giving points. Those results are extended from two-dimensional (2D) to three-dimensional (3D) space. In 3D space, a predefined 3D clothoid is used to construct triple 3D clothoid. The resultant 3D trajectory also possesses kinematical superiority because of its differential linearity in both pitch and yaw angles. The triple clothoid can also be used for connecting two straight segments with curvature continuity.

著者

王 樹華 明 愛国 牧野 洋 清水 晃

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.60, no.4, pp.544-548, 1994-04-05 (Released:2009-06-30)

参考文献数

5

---

A teaching robot has been developed for the purpose of sophisticated teaching operations, such as to input technical skill of artist or artisan when machining industrial art objects. To realize easy operation, the teaching robot is constructed with a seven D.O.F. articulated mechanism and a two D.O.F. working table, in total has nine D.O.F. To improve teaching accuracy, error analysis and calibration for all geometric parameters are performed. As the results of experiments, an accuracy of 0.75mm(±3σ) by the teaching robot has been obtained. In this paper, error analysis of the teaching robot and geometric error model of it are discussed. Calibration algorithm and accuracy estimation are described also. Finally, an example of teaching and playback is shown.

著者

明 愛国 古屋 信幸 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.54, no.7, pp.1265-1271, 1988-07-05 (Released:2010-01-27)

参考文献数

5

---

A new type robot called “Spherical SCARA (Spherical Selective Compliance Assembly Robot Arm) Robot” for the use of operations on a spherical plane has been developed. The robot has basically three joints (two rotational and one translational). It has the characteristic construction of “selective compliance”, that means, the compliance in the normal direction to the working sphere is small, and which in the tangent plane and for momental force are large. With this construction the robot is adaptable to assembly operations, especially for insertion. In this report basic concepts on the robot are given, and several characteristics (coordinates transformation, singularity, compliance, positioning resolution, dynamics) are discussed.

著者

蘭 豊礼 玉井 博文 三浦 憲二郎 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.78, no.7, pp.605-610, 2012-07-05 (Released:2013-01-05)

参考文献数

20

被引用文献数

2 1

---

In two-dimensional(2D) space, the clothoid is a preferred trajectory curve because its curvature varies linearly with its curve length. However, in three-dimensional(3D) space, both curvature and torsion must be considered. This paper deals with path generation using linear curvature and torsion segments which can be considered a 3D extension of the 2D clothoid. In our study, the path segments are generated by solving the Frenet-Serret equation. In every path segment, its curvature and torsion varies linearly with its curve length. In order to obtain more free parameters, plural curve segments are connected in series to make a compound curve. The curve is used to connect two given points which may have given Frenet-Frame, curvature and torsion constraints. These curves are also used to construct a smooth transition passing through an arbitrary point sequence. The resultant path possesses C2 as well as torsion continuity and matches all given Frenet-frame, curvature and torsion constraints at the given points.

著者

牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.71, no.10, pp.1223-1223, 2005-10-05 (Released:2009-04-10)

著者

金 嘯海 古屋 信幸 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.62, no.5, pp.732-736, 1996-05-05 (Released:2009-06-30)

参考文献数

3

---

Parallel mechanism is composed of a platform connected to a fixed base by some linear actuators called struts. The kinematic chains of parallel mechanism are driven by these actuators to its base and has high stiffness and low weight so it can realize high speed and accurate positioning ability. The Stewart platform is one of the parallel mechanism. In serial mechanism, the direct kinematics solution is easy, but the inverse kinematics solution is very involved. The other way, in the parallel mechanism the inverse kinematics solution is easy but the direct kinematics solution is very involved. In this paper, a new method named “origami solution” to solve the direct kinematics solution of Stewart platform is proposed and some basic equations in “origami solution” are conducted. This method is based on the “Geneqc.c” which is a computer program to get roots of general equations. In the last, the method is evaluated by some examples of the Stewart platform. The direct kinematics solution is solved in 0.01mm accuracy in about 1 second calculation time by 32 bit computer.

著者

葛 宗涛 高 偉 竹内 一弘 清野 慧

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.63, no.7, pp.967-971, 1997-07-05 (Released:2010-02-16)

参考文献数

15

---

2-D software datum named as the 2-D mixed method has been constructed to measure mirror surface profiles. The probe of this method consists of two displacement and two angle sensors. Differential calculation of outputs of these four sensors eliminates pitch, roll and the z-directional translation errors of the scanning stages. An autonomous procedure to estimate and compensate the zero-adjustment error among these four sensors is also proposed. By using this software datum, 2-D profiles of ultra-precision surfaces can be measured absolutely without using any external reference. An experimental probe for realizing the 2-D mixed method has been developed and a mirror surface of 128 mm long and 64 mm wide was measured with the probe. Repeatability of measurements and reproducibility compared with the differential angle method have shown high reliability of the proposed method

著者

佐藤 雄隆 金子 俊一 坂上 勝彦

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.77, no.12, pp.1121-1124, 2011-12-05 (Released:2012-06-05)

参考文献数

12

著者

堀内 茂木 吉澤 信 森田 晋也

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.78, no.1, pp.1-4, 2012-01-05 (Released:2012-05-17)

被引用文献数

2

著者

大谷 幸三 馬場 充

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.78, no.10, pp.880-886, 2012

---

An appearance inspection is one of the most suitable applications of a laser rangefinder. In such a field, many products are designed by 3-D CAD. Therefore, the appearance inspection of products validates the deviation between the designed 3-D data and the measured 3-D data. There are a lot of products of specular objects with shiny surface such as polished metals and plastic materials. However, conventional triangulation-based rangefinders are known to be difficult to apply to the 3-D shape measurement of such shiny objects. In this study, we propose an advanced laser rangefinder to be able to obtain the 3-D shape of specular objects and apply the rangefinder to an appearance inspection system.