著者

黎 シン 徳永 英幸 蔡 茂林 舩木 達也 川嶋 健嗣 香川 利春

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.38, no.1, pp.1-6, 2007 (Released:2008-09-29)

参考文献数

10

被引用文献数

4 7

---

A new pneumatic non-contact handling method is discussed in this paper, in which swirling flow is employed. Air flows into a vortex cup tangentially through a nozzle, and swirls along the wall to make a vacuum at the central area. Then, air is discharged to the atmosphere through a thin gap between the cup and a wafer under the cup. Analysis is conducted by dividing air flow into three parts. They are flow rate characteristics of the nozzle, swirling flow inside the cup and flow through the gap. Pressure distributions inside the cup and the gap are discussed and their analytical results are validated experimentally. It is clear that the vacuum is caused by the swirling air inside the cup, and it depends on the gap and the supply pressure. Furthermore, it is found that the wafer can be handled and kept in a balanced state automatically during a certain range of a considerably thin gap depending on the weight of the wafer. However, the wafer will fall down over this range.

著者

修 震 留 滄海 北川 能 塚越 秀行 小西 健一郎

出版者

The Japan Fluid Power System Society

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.41, no.2, pp.36-42, 2010-03-15

参考文献数

11

---

This study focuses on an at-home wrist rehabilitation system aimed at achieving a situation where a home-stay patient can receive rehabilitation from a therapist in a clinic. In a former report, a pneumatic driven at-home wrist rehabilitation system, which could be used for passive exercise, was developed. Using the same system that was developed, this paper discusses the realization of rehabilitation by active exercise based on the wrist characteristics obtained in passive exercise. Firstly, game-based active-resistive exercise is proposed. Then game-based active assistive exercise using the wrist characteristics obtained in passive exercise to set up the assist torque is proposed. From the experimental results in the clinic, the validity of rehabilitation by active exercises developed in this paper is verified. From the above, it is clarified that both passive and active exercise could be carried on by the at-home wrist rehabilitation system developed in this research.

著者

修 震 留 滄海 北川 能 塚越 秀行 小西 健一郎

出版者

The Japan Fluid Power System Society

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.41, no.1, pp.14-19, 2010-01-15

参考文献数

11

被引用文献数

1

---

This study focuses on the at-home wrist rehabilitation system aiming to achieve the situation where home-stay patients can accept rehabilitation from therapist in clinic. As the first stage, this paper discusses the development of the wrist rehabilitation by remote passive exercise for stroke patients. Firstly, based on the dynamic model of passive exercise, rehabilitation by remote passive exercise is proposed. Secondly, pneumatic pseudo-therapist which can realize the therapist's rehabilitation actions and pneumatic pseudo-patient which can realize the patient's resistance are designed and fabricated. Finally, based on the experimental result in clinic, the validity of the rehabilitation system developed in this paper is verified.

著者

蔡 茂林 藤田 壽憲 香川 利春

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.33, no.4, pp.91-98, 2002-07-15 (Released:2011-03-03)

参考文献数

8

被引用文献数

4 6

---

In previous research we proposed to quantify available energy of compressed air by exergy. In this paper we discuss the distribution of available energy supplied to a pneumatic cylinder in cyclic actuation. First, we examined energy distribution for ideal actuation of cylinder driven by a meter-out and meter-in circuit It is clarified that over half of supplied available energy is used for mechanical work to load and for velocity control of the piston, and remaining energy is exhausted without being used. For actual actuation the method for calculating distribution of available energy is established and this distribution is clarified by simulation of cylinder responses. It is found that the available energy for piston acceleration, work against internal friction and loss in heat transfer are relatively small. As a result, the paper concludes that utilization of exergy is feasible and recommendable for analyzing distribution of available energy of compressed air in pneumatic equipment.

著者

森 庸太朗 塚越 秀行 北川 能

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.41, no.5, pp.98-105, 2010 (Released:2013-09-11)

参考文献数

10

被引用文献数

3 4

---

This paper proposes a novel fluid powered actuator sliding along a flexible tube. The actuator named Λ-drive is composed of a flat tube and a slider. In the slider, the tube is bent and then the buckling point occurs, which helps to cut off the fluid passage and to seal in order to provide the driving force to the slider without generating large friction. In this paper, after the conventional sliding actuators are compared, the design method of the proposed actuator for making stable drive possible, the classification of the driving mode, and the analysis of the output force are discussed. Moreover, the validity of the proposed analysis can be verified through the experiment of the linear and the spiral motion by the developed prototype. Finally, as one of the applications of the actuator, the active drive of the zipper is proposed and its feasibility is discussed.

著者

中田 毅 桜井 康雄 田中 和博

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.39, no.1, pp.13-18, 2008 (Released:2009-08-28)

参考文献数

5

被引用文献数

1

---

This paper deals with the proposal of an electric-pneumatic hybrid drive system composed of an AC servomotor and a pneumatic cylinder type actuator, and its control methods. The rotational movement of the AC servomotor is transformed into the linear movement through a ball screw that is placed in the piston, and this hybrid drive system can be operated in the direction of gravitational force. Three control methods such as a pressure compensated control, a torque control and a hybrid control that combines both control methods are proposed from the view point of the reduction of the driving torque of the AC servomotor. The basic characteristics of the hybrid drive system are investigated by the experiment relating to the three control methods when the inertial mass moves vertically upwards and downwards during one cycle. Each control method is effective in reducing the driving torque of the AC servomotor and the views on the reduction of the driving torque of the AC servomotor in each control method are described.

著者

齋藤 直樹 佐藤 隆智 小笠原 隆倫 佐藤 俊之

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.43, no.4, pp.102-108, 2012 (Released:2014-10-25)

参考文献数

17

被引用文献数

4 1

---

In this paper, we propose a pneumatic rubberless artificial muscle. The working principal is the same as a general McKibben artificial muscle. The rubberless artificial muscle uses an air bag made of an aluminum vapor-deposition polyester film instead of a rubber tube. The rubberless artificial muscle consists entirely of non-elastic materials. Therefore, it is necessary to design the muscle in consideration of the geometrical relationship. An expression for the design of the rubberless artificial muscle is derived. We confirmed the validity of this expression through the evaluation of a prototype. Furthermore, we examined input/output characteristics and isotonic contraction characteristics and isometric contraction characteristics of the rubberless artificial muscle as fundamental characteristics through the experiment. We confirmed that the rubberless artificial muscle efficiently converted inner pressure into generated force and contraction displacement compared with the general McKibben artificial muscle. The biomechanical characteristics of the rubberless artificial muscle are the same as a human muscle.

著者

橋本 将宏 西岡 靖貴 安田 寿彦 山野 光裕

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.51, no.1, pp.1-8, 2019 (Released:2020-06-01)

参考文献数

18

---

An extremely lightweight pneumatic soft actuator is an actuator made of non-expansion and contraction material such as the plastic film. It can be driven low pressure and has unique characteristic which are flexibility and lightweight. As for contraction type extremely lightweight pneumatic soft actuator by pleats structure, it has the characteristic that up to approximately 40% shrink axially by opening the pleats of air cell surface at the time of pressurization. The purpose of this study is to clarify relationship between the design parameter, contraction force and the shape of pressurized state. Therefore, we produced the actuator which changed the film ratio (the ratio of the film length of the radial direction for the axial direction) or the magnification of the air cell and measured contraction force for air pressure using a force gauge. In addition, we measured the expansion magnitude of the radial direction at the time of the pressurization. It became clear that there was a positive correlation between contraction force and magnification of the air cell, and a negative correlation between contraction force and the film ratio. As for the expansion magnitude of air cell at the time of the pressurization, it was confirmed that the expansion magnitude was close to the calculated value of the model approximated from the design parameters. Finally, we made the graph that showed relationship between contraction force and cross-sectional area in each pressure.

著者

西川 弘太郎 平田 健太郎 高岩 昌弘

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.49, no.2, pp.56-63, 2018 (Released:2018-07-12)

参考文献数

16

被引用文献数

2

---

In recent years, 3D printer technology has brought many projects on the myoelectric hand to provide lightweight and inexpensive ones. However, the use of many mechanical and electronic components still limits the reduction of the total weight and cost. It also causes inevitable battery life problem. Therefore the authors propose a novel self-powered pneumatic prosthetic hand with which no electricity is required. The hand can grasp physical objects flexibly and quickly enough and is superior in portability because no external facilities like tank and compressor are needed in contrast to the traditional pneumatic devices. Driven by the supination motion of the arm, it does not have the restriction of the posture when the user wants to grasp. In addition, the hand is equipped with a tactile feedback system to realize a soft grasping.

著者

奥井 学 名倉 裕貴 飯川 伸吾 山田 泰之 中村 太郎

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.48, no.3, pp.17-23, 2017 (Released:2017-07-24)

参考文献数

9

被引用文献数

1

---

This paper is concerned with portable pneumatic power source using chemical reaction of sodium bicarbonate and citric acid. Carbon dioxide generated in the chemical reaction is used as the compressed air. Both sodium bicarbonate and citric acid are inexpensive, nontoxic, and readily available. This paper is organized as follows. Firstly, the characteristics of the chemical reaction is surveyed and the appropriate pneumatic power source system is discussed. Secondly, a pressure booster that can achieve a stable air generation system without external power is described. Thirdly, the experiment using the prototype system is conducted to confirm the effectiveness of the proposed method.

著者

土屋 研吾 鈴木 勝正 佐藤 三禄

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.39, no.1, pp.7-12, 2008 (Released:2009-08-28)

参考文献数

8

---

A parallel link mechanism with six degrees of freedom using electrohydraulic servo cylinders has large rigidity and support power. This feature is widely used for a driving device with multi degrees of freedom that has a heavy load or needs a large driving force. In this research, basic characteristics are revealed by experiment and theory. In the 1st report, the characteristics of the hydraulic servo system was considered, and a detailed mathematical model was made. A transfer function was obtained by linear approximation, and the frequency response was presented. In the 2nd report, nonlinear simulation was executed based on the detailed mathematical model. The frequency response obtained from the simulation agreed well with the experimental result. The appearance of fluctuation in each part was presented, and the influence of nonlinear characteristics was clarified. From this research, the dynamic characteristics between the input and output of one link that comprises a parallel link mechanism were clarified. However, the parallel link mechanism comprises a so-called interaction system where the displacement of one link influences those of other links through the end effector. In this report, the interaction that each link receives from one link is examined by experiment and nonlinear simulation. The appearance of interaction is presented when the input is a rectangular wave or sinusoidal wave. The frequency response of the interaction that each link receives is presented. It is clarified that the amplitude of the reference value for a link and the load mass has a large influence on the frequency response of interaction. It is also presented that Coulomb friction has a big influence on the result.

著者

趙 丁選 山田 宏尚 加藤 英寿 武藤 高義

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.33, no.7, pp.141-148, 2002-11-15 (Released:2011-03-03)

参考文献数

16

被引用文献数

1

---

This study deals with a calculation method for the forward kinematics of a 3 DOF parallel link manipulator. As a method for such a calculation, up to the present, the Newton method, or Newton-Raphson method alternatively, has been generally used. Nevertheless, this method is difficult to apply to on-line control systems, since it requires significant computation time and a large capacity of computer memory for calculations. In this study, therefore, a new algorithm for calculating forward kinematics is proposed. Fundamentally, the algorithm consists of two processes. The first is to calculate in a very short time an approximate solution of the kinematics. The second is to compensate the approximate solution in order to obtain the accurate one. It was confirmed that the computation time for the new algorithm was decreased to as little as 1/69-1/81 that for the Newton method. It was also confirmed experimentally that the algorithm was successfully applicable to an on-line control system.

著者

築地 徹浩 佐倉 青蔵 永田 精一 野口 恵伸

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.38, no.4, pp.60-64, 2007 (Released:2009-02-25)

参考文献数

7

---

In the present research, our pump model is designed to visualize the jet flow near a notch of a valve plate in an axial piston pump. The cavitation cloud can be observed clearly using a high-speed video camera from the perpendicular direction to the axis and the direction of the jet flow and the area of the cavitation cloud are obtained. A valve plate with V-shaped groove type is used and the regions of the occurrence of the cavitation are analyzed using an image processing technique. Furthermore the computational fluid dynamics is employed using the 2-D vortex method combined with boundary element method to estimate the occurrence and the region of the cavitation cloud.

著者

馬 衛東 池尾 茂

出版者

The Japan Fluid Power System Society

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.35, no.1, pp.15-21, 2004-01-15

参考文献数

6

被引用文献数

1 1

---

In order to reduce energy consumption, secondary control systems have been applied to many types of equipments. In lifting equipment and press machines using hydraulic cylinders, a hydraulic transformer is used, instead of a valve as a control component for motion control and for recovering potential energy of load. The transformer is a combination of a variable displacement pump/motor, which is a secondary controlled element, and a fixed displacement pump/motor. In this paper the energy-saving effect of the transformer is studied. Multiple closed loop controllers, consisting of displacement feedback of variable pump/motor, speed feedback of the cylinder and position feedback of the cylinder are used. The efficiency and energy consumption when the cylinder is driven up and down is calculated by simulation. Simulation results show that considerable energy saving is achieved by accurately choosing load ratio, circuit type and supply pressure.