著者

金城 孝俊 青木 岳史

出版者

公益社団法人 日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

vol.54, no.2, pp.111-122, 2019 (Released:2019-02-05)

参考文献数

16

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When using robots to investigate a disaster site after an earthquake, the act of carrying robots into the workplace is dangerous for the rescuer and may result in a second accident. If robots can be thrown into the workplace, operators will be safe and the job made easier. We have been researching and developing our legged robots "QRoSS" series, which are transformable robots with a spherical outer shell to absorb the external shock of landing. The purpose of this study is the development of QRoSS III, which can get over obstacles by jumping. It performs two takeoff postures and two static gaits using three legs and its shell. This paper reports concepts and the design of QRoSS III and discusses experimental results: takeoff postures, gait locomotion and a series of the jumping motions.

著者

野口 昭治 小川 康介

出版者

公益社団法人 日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

pp.2015.2674, (Released:2016-03-25)

参考文献数

8

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Roller chains are applied in two wheels, constructing machine and agricultural machine as the power-transmitting means. Compared with a belt as a winding transmission device, chain transmission is of advantage in transmission efficiency and capability. However, there is a problem of elongation caused by wear between pin and bush, which make flexion movement. Generally to decrease the wear, although a certain additive agent such as wear inhibitor is mixed with lubricant, the advantageous effect does not exist for very long time. Because the side surfaces of pin and bush are opened up to the air. Our past result presents that the contact between pin and bush occurs only at the both ends of the pin. On the basis of this resultant, the authors dealt with the possibility of decrease of wear by reducing contact surface pressure with enlarging the contact area between pin and bush. Then, crowning process to reduce edge load in cylindrical roller bearing was experimented. Furthermore, an optimized design, to enlarge the contact area by means of FEM analysis with considering the deformation of bush due to the press fitting, was also studied. Consequently, in this research, the decrease of wear depth by enlarging the contact area was verified by some experiments.

著者

Kazumasa TAKADA Renato SATO Shoma SATO Morito ITO Ryota TSUCHIYA Koki KIKUCHI Masahiro SHINDO Akira KAMEI Toshihiro KONDO

出版者

Japan Society for Design Engineering

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

pp.2021.2947, (Released:2022-03-18)

参考文献数

14

---

In order to achieve unmanned construction with a pneumatic caisson method, the present study develops an autonomous operation system using caisson shovels. The shovel mounted on the ceiling slab of the working chamber moves on a rail track and excavates underground based on the trajectory of a skilled human operator. The excavated soil is removed to the aboveground space through the material shaft using earth buckets. Since the rail track constrains the moving range and the shovel cannot always approach the earth bucket, groups of several shovels are organized to perform cooperative work based on a bucket relay system. In the present paper, we proposed a job scheduling algorithm based on terrain recognition, soil mountain selection, excavation trajectory control, and collision avoidance for an autonomous operation. Here, we used a 1/10-scale caisson platform reproducing a practical construction site and performed three cases of cooperative experiments by (a) a group of two shovels, (b) two groups of two shovels, and (c) three groups of two shovels. The results showed that, in case (a), the loading ratio always remained over 100% and the average was 130%. The cooperation of two shovels was achieved. In case (b), sharing an initial soil mountain between two groups, although the loading ratio decreased by 18%, cooperative work between groups as well as that between shovels was achieved without collisions. In case (c), sharing two initial soil mountains among three groups, the loading ratios were 126%, 107%, and 96% for the three groups. The proposed excavation planning showed the feasibility of massive construction using numerous autonomous shovels.

著者

鈴木 隆

出版者

日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

vol.46, no.10, pp.543-548, 2011-10-05

著者

Kazumasa TAKADA Renato SATO Shoma SATO Morito ITO Ryota TSUCHIYA Koki KIKUCHI Masahiro SHINDO Akira KAMEI Toshihiro KONDO

出版者

Japan Society for Design Engineering

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

vol.57, no.8, pp.381-396, 2022 (Released:2022-08-05)

参考文献数

14

---

In order to achieve unmanned construction with a pneumatic caisson method, the present study develops an autonomous operation system using caisson shovels. The shovel mounted on the ceiling slab of the working chamber moves on a rail track and excavates underground based on the trajectory of a skilled human operator. The excavated soil is removed to the aboveground space through the material shaft using earth buckets. Since the rail track constrains the moving range and the shovel cannot always approach the earth bucket, groups of several shovels are organized to perform cooperative work based on a bucket relay system. In the present paper, we proposed a job scheduling algorithm based on terrain recognition, soil mountain selection, excavation trajectory control, and collision avoidance for an autonomous operation. Here, we used a 1/10-scale caisson platform reproducing a practical construction site and performed three cases of cooperative experiments by (a) a group of two shovels, (b) two groups of two shovels, and (c) three groups of two shovels. The results showed that, in case (a), the loading ratio always remained over 100% and the average was 130%. The cooperation of two shovels was achieved. In case (b), sharing an initial soil mountain between two groups, although the loading ratio decreased by 18%, cooperative work between groups as well as that between shovels was achieved without collisions. In case (c), sharing two initial soil mountains among three groups, the loading ratios were 126%, 107%, and 96% for the three groups. The proposed excavation planning showed the feasibility of massive construction using numerous autonomous shovels.

著者

吉田 昌央 中島 公平 石河 開

出版者

公益社団法人 日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

pp.2016.2679, (Released:2016-06-09)

参考文献数

8

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For an air-cooled engine, designers must choose the number of fins required for cooling, then arrange them along the cylinder at a suitable fin pitch. Most motorbikes mount their air-cooled engines at a slant, with their cylinder centralaxis not perpendicular to the air flow. This study investigated the cooling characteristics of air-cooled experimental cylinders, with various fin pitches and number of fins, mounted at tilt angles between 0°(vertical) and 90°(horizontal),in a wind tunnel at air velocities of 20km/h (5.6m/s) and 60km/h (16.7m/s). Heat release from the cylinder was measured, air flow between fins was observed using the smoke wire method, and air flow over fin surfaces wasobserved using the oil film method. Results indicated that, except at 20km/h (5.6m/s) and a pitch of 7.5mm, cylinder cooling increased as tilt angle increased from 0° to 40°, then decreased when the cylinder tilt angle exceeded 40°. Only at 20km/h (5.6m/s) and a pitch of 7.5mm, cylinder cooling increased as tilt angle increased from 0° to 30°, then decreased when the cylinder tilt angle exceeded 30°. Cylinder cooling was maximized with 7 fins pitched at 10mm.

著者

中 尚義 橋本 巨

出版者

公益社団法人 日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

vol.51, no.11, pp.788-801, 2016 (Released:2016-11-05)

参考文献数

24

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Dragonflies have high flight performance in spite of small size. Therefore, the research of clarifying the flight mechanisms of dragonflies, and then applying it to Micro Air Vehicles (MAVs) is proceeding. Dragonfly's flight mainly consist of a flapping motion and a feathering motion. To control the MAV like dragonflies, clarifying the effect of the flapping motion and the feathering motion on generating aerodynamic force is necessary. In this study, lift and thrust force generated by flapping were measured using flap simulator adjusted the flapping and feathering angle. As a result, lift and thrust force were increased with increase in the flapping angle. Thrust force was particularly increased with increase from 30° to 40° in the flapping angle. When the feathering angle is 45°, downforce was very small, and a lift fluctuation was small. Therefore, the feathering angle of 45° are suitable for the straight flight. When the feathering angle is 60°, momentary lift force was very high. Therefore, the feathering angle of 60° are suitable for a climbing flight such as the take-off. In fact, it was confirmed by the motion analysis that the feathering angle of a dragonfly in the take-off is 60° or more.

著者

荒川 俊也 杉森 順子

出版者

公益社団法人 日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

vol.53, no.3, pp.237-250, 2018 (Released:2018-03-05)

参考文献数

18

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This study examines the effect of manufacturing education on mechanical engineering students using an art work based on design thinking. The miniature movable monument of “flexible dimension (by Junko Sugimori)” is developed. Based on many real-monument pictures and the outline of the miniature monuments created using 3D printer, a basic model of miniature monuments is created. To move the miniature monument, the motion data of the finger was captured via Leap Motion technology and the data was transmitted via XBee processing and the angle of rotation was calculated. From this project, which discusses miniature monument development, students learned about the relation between manufacturing and art based on design thinking.

著者

宮崎 議弘

出版者

日本設計工学会

雑誌

設計工学 = Journal of Japan Society for Design Engineering : 日本設計工学会誌 (ISSN:09192948)

巻号頁・発行日

vol.49, no.4, pp.157-162, 2014-04

著者

安 鍾賢 筑紫 彰太 安川 真輔 園田 隆

出版者

公益社団法人 日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

vol.57, no.4, pp.181-190, 2022 (Released:2022-04-05)

参考文献数

17

---

In recent years, extermination work has been carried out due to the increase in the number of jellyfish. In this research, we design and develop an AUV (Autonomous Underwater Vehicle) and conduct a jellyfish crushing experiment for the purpose of automating jellyfish extermination work. In the design and development of an AUV, electronic parts to operate autonomously were selected, and each electronic part was placed inside the hull to create a system diagram of them. Regarding the jellyfish extermination device, we designed and developed a device that sucks and crushes jellyfish together with water from the suction port. In this experiment, a jellyfish extermination device was mounted on developed AUV, and a crushing experiment was conducted using a jellyfish sample which is made by water and gelatin. As a result, it was confirmed that a jellyfish sample with a diameter of about 7 cm and a height of about 11 cm could be crushed to small pieces, which has average of volume 2885.6 mm3, during less in about 8 seconds.

著者

岡野 仁庸 佐原 宏典

出版者

公益社団法人 日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

vol.57, no.5, pp.237-250, 2022 (Released:2022-05-05)

参考文献数

13

---

Satellites are utilized in a wide range of fields, such as scientific research, remote sensing, communication, and defense. Unlike ground-based systems, a satellite system has certain special features in terms of system design, usage environment, and life cycle. Therefore, it is difficult for engineers to pass on the system design documents and experiences of the satellite to the next generation. Engineers often design, develop, and validate satellite systems according to their individual competence. In general, if the experience and competence of the engineer are insufficient, regressions and design defects can occur in the later stages of development. In the past, satellites have been affected by problems such as unexpected resource inputs and in-orbit failures, which have reduced quality, cost, and delivery (QCD). We consider that the large gap between the highest standards for satellite design and the actual standards met by the engineers is the most significant factor that causes the QCD to deteriorate. To address this issue, we aim to develop a systems-engineering method that can serve as a guideline for satellite development. Herein, we present the results of our study, along with an evaluation of one of the research themes that we are focusing on to address the aforementioned issue, that is, “Establishing a quantitative systems engineering (SE)-evaluation method by modeling the SE approach.” This is a method for quantitatively visualizing the SE approach and evaluating the validity of satellite development guidelines as a systems-engineering method. This method was validated based on the results of an actual project, i.e., the CanSat project, which involves developing a microsatellite as small as a canned drink.

著者

藤本 滋 今井 健嗣 一木 正聡

出版者

公益社団法人 日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

vol.51, no.7, pp.497-508, 2016 (Released:2016-07-05)

参考文献数

16

被引用文献数

4

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Electrical power generation devices that use lead zirconate titanate piezoelectric (PZT) elements have been developed to convert structural vibration energy into electrical energy. We have reported the effects of vibration loads on the power-generation characteristics of a PZT element doped with niobium (Nb), and have proposed the use of laminated PZT elements to significantly improve the power-generation characteristics of PZT elements. In this study, we have made three-layer, five-layer and seven-layer PZT elements. In the experimental study, the effects of the number of layers of the laminated PZT element, the loads and frequencies of the powergeneration characteristics of the laminated PZT element are evaluated by vibration tests. The results indicated that the maximum electric power of a seven-layer PZT test piece in this study was around 3.8 mW and yielded about 23 times more power than a single-layers PZT element. Their results shows the generation characteristics were improved by laminated PZT elements when the number of folds was increased.

著者

岡野 仁庸 佐原 宏典

出版者

公益社団法人 日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

pp.2021.2939, (Released:2021-12-16)

参考文献数

13

---

Satellites are utilized in a wide range of fields, such as scientific research, remote sensing, communication, and defense. Unlike ground-based systems, a satellite system has certain special features in terms of system design, usage environment, and life cycle. Therefore, it is difficult for engineers to pass on the system design documents and experiences of the satellite to the next generation. Engineers often design, develop, and validate satellite systems according to their individual competence. In general, if the experience and competence of the engineer are insufficient, regressions and design defects can occur in the later stages of development. In the past, satellites have been affected by problems such as unexpected resource inputs and in-orbit failures, which have reduced quality, cost, and delivery (QCD). We consider that the large gap between the highest standards for satellite design and the actual standards met by the engineers is the most significant factor that causes the QCD to deteriorate. To address this issue, we aim to develop a systems-engineering method that can serve as a guideline for satellite development. Herein, we present the results of our study, along with an evaluation of one of the research themes that we are focusing on to address the aforementioned issue, that is, “Establishing a quantitative systems engineering (SE)-evaluation method by modeling the SE approach.” This is a method for quantitatively visualizing the SE approach and evaluating the validity of satellite development guidelines as a systems-engineering method. This method was validated based on the results of an actual project, i.e., the CanSat project, which involves developing a microsatellite as small as a canned drink.

著者

安 鍾賢 筑紫 彰太 安川 真輔 園田 隆

出版者

公益社団法人 日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

pp.2021.2931, (Released:2021-10-28)

参考文献数

17

---

In recent years, extermination work has been carried out due to the increase in the number of jellyfish. In this research, we design and develop an AUV (Autonomous Underwater Vehicle) and conduct a jellyfish crushing experiment for the purpose of automating jellyfish extermination work. In the design and development of an AUV, electronic parts to operate autonomously were selected, and each electronic part was placed inside the hull to create a system diagram of them. Regarding the jellyfish extermination device, we designed and developed a device that sucks and crushes jellyfish together with water from the suction port. In this experiment, a jellyfish extermination device was mounted on developed AUV, and a crushing experiment was conducted using a jellyfish sample which is made by water and gelatin. As a result, it was confirmed that a jellyfish sample with a diameter of about 7 cm and a height of about 11 cm could be crushed to small pieces, which has average of volume 2885.6 mm3, during less in about 8 seconds.

著者

岡島 寛 松永 信智

出版者

日本設計工学会

雑誌

設計工学 = Journal of Japan Society for Design Engineering : 日本設計工学会誌 (ISSN:09192948)

巻号頁・発行日

vol.50, no.4, pp.163-168, 2015-04

著者

藤本 晋作 河野 義樹 佐藤 満弘

出版者

公益社団法人 日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

pp.2021.2923, (Released:2021-07-07)

参考文献数

10

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It is well known that the mechanical properties of human bones change with aging, accompanied with the geometrical changes. While structure model index (SMI) is often employed to quantitatively evaluate the bone shapes, it is impossible that changes in shapes of bodies with concave and convex faces are accurately distinguished. In this study, SMI was extended to solve the problem, and this extended version of SMI (ESMI) was adapted to vertebral body models, where the models were built based on young and old aged vertebrae. Uniaxial compressive deformations of the vertebral body models were also numerically simulated by finite element method, and the relationship between the shapes and stress concentration factors was organized by ESMI. The results showed that ESMI distinguish shape changes of vertebral bodies more accurately than SMI, and the ease of stress concentration depending on the diameter of narrow part in vertebral body was successfully evaluated by ESMI.

著者

内田 康之 石田 直也 杉本 実夏 梅森 友賢 鎌田 健福 平沼 満紀 青木 岳史

出版者

公益社団法人 日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

vol.54, no.5, pp.309-322, 2019 (Released:2019-05-05)

参考文献数

33

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When terrorism occurred at tunnel of the underground, the police and Japan Self Defense Forces have to scout in the tunnel while confirming the safety in the tunnel. It’s said that they need the robot which does such dangerous work for the unit. So we have been developing the information gathering robot which can travel on the railway track of the underground, the station premises and the ground. This robot has a bogie wheel mechanism to pass easily a gap and a curve of a rail. In this report, we describe the design concept and the design process of the locomotion mechanism of this robot. And we consider the driving performance of it on the imitation railway track.

著者

米田 完 青山 雅規 浦 広幸

出版者

公益社団法人 日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

pp.2018.2833, (Released:2020-01-23)

参考文献数

25

---

An omnidirectional mobile vehicle created with Mecanum wheels does not easily negotiate stepped terrain, because the small slanted freely moving wheels in the Mecanum wheel rotate at the step edge and cannot obtain a grip sufficient for climbing. We developed two types of driving wheel mechanisms based on the Mecanum wheel. One is a hybrid that combines a larger grouser wheel with a smaller Mecanum wheel with a synchronized peripheral velocity and vertically adjustable central shaft. The other comprises a split Mecanum wheel where the halves shift back and forth. The radius of the grouser wheel hybrid must be carefully designed so that the grouser can produce an adequate grip at a low position for reliable transition to the frictional grip of the Mecanum wheel. Similarly, for the split Mecanum wheel, the horizontal shift distance must be carefully determined so that the grip of the edge of one half is maintained until an adequate grip can be obtained by the other half of the wheel. Experimental robots were built with Mecanum wheels 152mm in diameter to demonstrate both wheel types. These robots showed good performance by negotiating a 100mm step (grouser type) and a 70mm step (split type).

著者

加藤 恵輔 中村 祐介 長谷川 一樹 根崎 雄太

出版者

公益社団法人 日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

vol.55, no.2, pp.117-128, 2020 (Released:2020-02-05)

参考文献数

19

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Promotion of barrier-free systems has been discussed actively because of the recent aging society, and more and more elevators and other devices have been installed in places such as large-scale public facilities and stations. However, it is difficult to apply barrier-free designs to every building to assist people’s mobility and smooth carriage of luggage. Especially stairs are the challenging place in terms of mobility. We consider a vehicle-type robot that can go up and down stairs is effective to solve this problem. Thus, in our study, we aimed to establish a technology which prevents the robot from sliding down stairs, and we proposed the wheel structure with the new C-shaped claw mechanism to adapt passively to shapes of steps. We also proposed the movement action principle that is less affected by the distance between the stair nosings. In this paper, we discuss the mechanical configuration and the mechanical design of the vehicle-type robots that we have developed, and report on the experiments.

著者

米田 完 青山 雅規 浦 広幸

出版者

公益社団法人 日本設計工学会

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

vol.55, no.4, pp.263-276, 2020 (Released:2020-04-05)

参考文献数

25

---

An omnidirectional mobile vehicle created with Mecanum wheels does not easily negotiate stepped terrain, because the small slanted freely moving wheels in the Mecanum wheel rotate at the step edge and cannot obtain a grip sufficient for climbing. We developed two types of driving wheel mechanisms based on the Mecanum wheel. One is a hybrid that combines a larger grouser wheel with a smaller Mecanum wheel with a synchronized peripheral velocity and vertically adjustable central shaft. The other comprises a split Mecanum wheel where the halves shift back and forth. The radius of the grouser wheel hybrid must be carefully designed so that the grouser can produce an adequate grip at a low position for reliable transition to the frictional grip of the Mecanum wheel. Similarly, for the split Mecanum wheel, the horizontal shift distance must be carefully determined so that the grip of the edge of one half is maintained until an adequate grip can be obtained by the other half of the wheel. Experimental robots were built with Mecanum wheels 152mm in diameter to demonstrate both wheel types. These robots showed good performance by negotiating a 100mm step (grouser type) and a 70mm step (split type).