著者

泉 丙完 澤口 学

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:18848354)

巻号頁・発行日

vol.79, no.803, pp.2651-2663, 2013 (Released:2013-07-25)

参考文献数

20

---

After products have been released to markets, from marketing competitions, not only functional improvements but also cost reductions are requested in improvement designs. But many of engineers are feeling difficulties to satisfy both of them at same time. We propose a process for improvement designs to satisfy these different kinds of features by using information integration method. Information Integration method is an evaluation way which is based on concept of Shannon's information theory. In this method, different kinds of features can be compared in a common measure called “Information”. We apply this method to evaluate functions and costs in improving designs. We also propose an optimizing process for improvement design based on this method. By comparing evaluation items in this method, next target for improvement can be automatically selected without personal subjectivity. We have confirmed effectiveness of this process in a case study of electric shaver's improvement design. This study also makes up practical design processes with our previous studies “Practical Cost Reduction Methods based on TRIZ” and “Functional Improvement Methods based on Expert Engineers' Thinking Way”.

著者

福田 敏男 小林 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

巻号頁・発行日

vol.52, no.481, pp.2437-2442, 1986

被引用文献数

1

---

Based on a previous paper, an attitude control method of the Vroid is dealt with here, under some conditions, so that some of the modules should satisfy the constraints for the robotic shape and attitude, since it is sometimes required that mobile robots must carry something and/or liquid containers in a restricted moving mode. The assumptions are that (i) the Vroid has six degrees-of-freedom, including the freedoms of the rotational joint of the first link and the moving wheels, which were not treated in the previous paper ; (ii) the central link must be kept in the horizontal position as a constraint, which yields five degrees-of-freedom in Vroid ; (iii) Vroid moves along a slope. The problem is formulated as a linear programming problem minimizing the total applied moments at joints, subjected to constraints. Then the proposed control method gives a solutions for the control sequence of the Vroid for various terrains.

著者

川副 嘉彦 武田 幸弘 中川 慎理 Federico CASOLO 友末 亮三 吉成 啓子

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:18848354)

巻号頁・発行日

vol.79, no.808, pp.4994-5009, 2013 (Released:2013-12-25)

参考文献数

13

---

The lightweight racket with handle-light configuration and large head size is recent tendency of high-tech tennis rackets, increasing power or post-impact ball velocity with an increasing racket swing speed. This paper investigated the performance of lightweight balanced racket with super-large head size with 120 square inches in terms of feel or comfort. It predicted the effect of the mass and mass distribution of super-large head sized rackets on the impact shock vibrations of the racket handle and the player's wrist joint when a player hits a flat forehand drive. The prediction is based on the identification of the racket characteristics, the damping of the racket-arm system, equivalent mass of the player's arm system and the approximate nonlinear impact analysis in tennis. A lightweight balanced racket (mass: 292 g, the center of gravity LG: 363 mm from the butt end) and a conventional weight and weight balanced racket (349 g, LG: 323 mm) are selected as representatives. These two super-large head sized rackets made of carbon graphite have the same head size and same geometry. The result showed that the shock vibration of the lightweight balanced racket with super-large sized head is much larger than that of the conventional weight balanced type racket. It also showed that the sweet area of the former in terms of the shock vibration shifts from the center to the topside on the racket face compared to the latter. This is because the location of the grip on the racket handle is further from the location of the node on the handle of the first mode of lightweight balanced racket than that of the conventional weight balanced racket.

著者

中村 恭子 吉谷 明敏 清水 伸二 坂本 治久

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:18848354)

巻号頁・発行日

vol.79, no.807, pp.4389-4399, 2013 (Released:2013-11-25)

参考文献数

10

被引用文献数

1 3

---

The contact stiffness of joints has been evaluated experimentally and the method quantifying them has been proposed by authors. However it was found out that the range of application for this method was limited, since the method was based on the assumption that the relationship between force and real contact area of the joint is linear. Therefore, in this paper, we consider a widely applicable and more general identification method of the contact stiffness which can be applied to the joints in which the relationship between the force and the real contact area shows non-linear characteristics. As a consequence, following results are obtained. (1) The model of the joint interface with surface roughness can be made as a surface covered by springs with same length and spring constant along the profile of surface roughness. (2)The identification method of the contact stiffness of the joint based on the model can be applied to the joints, even if the relationship between the force and the real contact area of the joints is non-linear. (3) The contact stiffness per real contact area k shows constant regardless of the applied force in the joint where the relationship between the force and the real contact area is non-linear.

著者

滝田 好宏 ブイクワン ズン 伊達 央

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:18848354)

巻号頁・発行日

vol.77, no.781, pp.3278-3289, 2011 (Released:2011-09-25)

参考文献数

18

被引用文献数

1 1

---

This paper proposes SSM(Sensor Steering Mechanism) for a lateral guided vehicle with an articulated body which has an arbitrary position of articulation joint. The last paper shows the SSM for an articulated vehicle with a bending joint located at the center of its wheel base. The articulated robotic vehicle with SSM is demonstrated an accurate line following at low speed and a drift cornering at high speed moving. This paper discuses the SSM for the arbitrary position of articulated joint and the simple relation is derived for the lateral guided method for the articulated vehicle. In order to demonstrated the advantage of this method, an experimental vehicle is developed and tested on the evaluation course which is used previous papers. Dynamical simulations of experimental vehicle are preformed and the data is compared with the experimental data. These results demonstrate that a SSM for articulated vehicles achieve at high speeds and maintain stability on a test course.

著者

五福 明夫 単 万里 柴田 光宣 山西 輝裕 亀川 哲志

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:18848354)

巻号頁・発行日

vol.77, no.778, pp.2400-2406, 2011 (Released:2011-06-25)

参考文献数

13

被引用文献数

2

---

This study develops a mixing machine driven by a spherical motor that can rotate around any axis. The developed mixing machine is composed of a rotor, a stator, a control PC, an electro-magnet excitation circuit, and a power supply. The rotor that its outer diameter is 200 [mm] is composed of double spherical shells in order to contain liquid in its inner spherical shell. Totally 91 permanent magnets are arranged in almost spherical symmetry on the inner surface of the outer spherical shell. On the other hand, 80 electro-magnets are arranged on the stator of a semi-spherical shell. The applicability of the mixing machine to material production under the condition of small influence of gravitational force is evaluated by mixing experiments to dissolve salt of 50 [g] in water of 200 [g]. The mixing performance is compared for five mixing methods. The results show that the mixing performance of the method to change randomly the rotation direction is only slightly lower than that of the method of rotating continuously around a horizontal axis that exhibits the highest mixing performance.

著者

藤田 貴行 塚本 哲 多田 茂

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:18848354)

巻号頁・発行日

vol.77, no.780, pp.3017-3024, 2011 (Released:2011-08-25)

参考文献数

35

被引用文献数

2

---

1/f noises, the power spectrum density (PSD) of signals inversely proportional to the frequency, have been observed in various types of physical and physiological systems; e.g. current and heart beat. 1/f noise is suggested to be generated by superimposing stochastic processes. Among stochastic processes, autoregressive process is suitable for analyzing physical and physiological systems in that the autoregressive process is time-discrete. A time-discrete model is suitable for analyzing those systems because those systems are observed in time-discrete manner as well. However, it is obscure whether 1/f noises are generated by superimposing those autoregressive processes. In this study, first order autoregressive (AR(1)) processes were superimposed with varied the process parameter and a driving noise. As a result, PSD of superimposed time sequences was inversely proportion to the frequency when the process parameter and a driving noise were a uniformly distribution and white noises, respectively. This result suggests that 1/f noises could be generated from the superimposing AR(1) processes when the process parameter is distributed uniformly.

著者

上野 祐樹 北川 秀夫 柿原 清章 寺嶋 一彦

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:18848354)

巻号頁・発行日

vol.78, no.789, pp.1872-1885, 2012 (Released:2012-05-25)

参考文献数

11

被引用文献数

6

---

Holonomic omni-directional mobile robots are very useful at narrow or crowded areas because of their high mobility performance, and omni-directional mobile robots equipped with normal tires are desired for their ability to surmount the difference in ground level as well as their vibration suppression and ride comfort. Up to the present, the caster-drive mechanism using normal tires has been developed to realize a holonomic omni-directional mobile robot, but some problems have been left. In this paper, we present an effective system to control the electric caster-drive wheel of omni-directional mobile robots, Differential Drive Steering System (DDSS) using differential gearing is proposed to improve the operation ratio of motors. The proposed DDSS generates the driving and the steering outputs effectively from utilizing two motors. Simulation and experimental results show that the proposed system is effective for both of the mobility and energy saving.

著者

田窪 朋仁 上撫 琢也 前 泰志 新井 健生 大原 賢一

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:18848354)

巻号頁・発行日

vol.78, no.793, pp.3186-3201, 2012 (Released:2012-09-25)

参考文献数

12

---

A new convergence calculation method of the Normal Distributions Transform (NDT) scan matching for high resolution of grid maps is proposed. NDT scan matching algorithm usually has a good effect on large grids, so it is difficult to generate the detailed map with small grids. The proposed method employs Interactive Closest Point(ICP) algorithm to find corresponding point, and it also enlarges the convergence area by modifying the eigenvalue of normal distribution so that the evaluation value is driven effectively for the pairing data. In addition, outlier elimination process is implemented to the scanning for sub-grid scale objects. The scanning data from Laser Range Finder(LRF) have error but its set of detected small objects can be clustered to determine the Center of Mass(CoM) and the outlier data. The outlier commonly locates behind true points and it can be eliminated when the robot observes from other points. Experimental result shows the effectiveness of the proposed convergence algorithm and the outlier elimination method.

著者

木下 雅夫 蝦名 正輝 大澤 正敬 日比野 良一 門浦 弘明 秋濱 一弘

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:18848354)

巻号頁・発行日

vol.78, no.792, pp.2824-2836, 2012 (Released:2012-08-25)

参考文献数

23

被引用文献数

5

---

This paper discusses a research on 2-dimensionl visualization of a spot weld piece using laser-ultrasonic technique. This laser-ultrasonic apparatus can scan a surface on a weld piece, and get ultrasonic longitudinal signals on several hundred measurement points per 10mm order. We analyzed these signals by Frequency Response Characteristic from 10MHz to 100MHz, and showed that the ultrasonic attenuation was related to the gain, and the ultrasonic propagation velocity was related to the phase, for frequency domain spectrum. At result, it was appeared that the gain of nugget parts was less than the gain of parents, and the phase of HAZ was latter than the phase of parents and nuggets. From these results, we made maps on frequency domain spectrum, and could realize to visualize the parent and the nugget, the HAZ on a weld piece. In addition, using Electron Back Scatter Diffraction, it was shown that the gain was effected by the crystal diameters, the phase was effected by the crystal directions.

著者

久保 登 森 みどり

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:18848354)

巻号頁・発行日

vol.77, no.778, pp.2506-2521, 2011 (Released:2011-06-25)

参考文献数

10

---

Drive recorders have been used more frequently in Japan on the transportation vehicle such as taxicabs, buses and trucks than before. The drive recorders can record the driving data including motion pictures in the traffic accidents and near-accidents, which are considered as “dangerous data”. Analysis and application of safety education using the “dangerous data” are useful to prevent traffic accidents. The drive recorder, however, can record a large number of “not dangerous data” which are not derived from the accident or near-accident data when the car passes the undulation or bumps on the road. The current useful method to extract the “dangerous data” exactly from all the raw data is the human observation and classification of the data while some automatic methods have been developed, which are not very exact to classify the data. The authors show a new method of automatic classification of the drive recorder data into more than two categories including “accidents”, “near-accidents” and “bound” etc., by using the waveforms of the acceleration data. The method is much more effective and reliable than the current automatic methods and it enables to build an automatic processing system for mass data from drive recorders to be classified exactly.

著者

中野 史郎 吉元 浩司 木村 秀司 葉山 良平

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:18848354)

巻号頁・発行日

vol.78, no.785, pp.176-186, 2012 (Released:2012-01-25)

参考文献数

13

---

Improvement of value-added steering maneuvering is required more than ever, for wider range of passenger vehicles. Steering is one of the key systems to achieve better vehicle maneuvering. Sensory evaluation of “steering feeling” can hold contingency designing strategy. But, uncertainty of human factors should be taken into account for estimation of physical quantities. Some methods that specify relation between “steering feelings” and performances of vehicle dynamics have been proposed but not practical for actual design of steering components. In this paper, the theoretical method with detailed steering model that specifies quantitative performances and physical quantities for steering components is proposed.

著者

佐伯 一夢 深尾 隆則 浦久保 孝光 河野 敬

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:18848354)

巻号頁・発行日

vol.79, no.798, pp.236-251, 2013 (Released:2013-02-25)

参考文献数

25

被引用文献数

1

---

A surveillance system has been required to gather information after large-scale disasters on stricken areas safely and quickly. To collect the information, it is useful to use a blimp, because of its low-sky availability, safety and long flight. A blimp flying at low altitude can capture high quality images offering 3D imagery in disasters. This paper proposes a new path following control method for outdoor blimp robots under windy conditions to collect detailed disaster information. The method consists of path following control in the wind coordinate on the horizontal plane and altitude control on the longitudinal plane. And this method minimizes the lateral errors arising from the wind disturbances considering path regeneration. Some simulations and experiments for a 12m class blimp are performed to confirm the usefulness of the proposed method.

著者

長江 信顕 後藤 知伸

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:18848354)

巻号頁・発行日

vol.79, no.803, pp.2314-2328, 2013 (Released:2013-07-25)

参考文献数

10

被引用文献数

1

---

The predictive accuracy for the dynamic behaviour of a rotor under conditions of high-speed spinning depends on the accuracy of the numerical model of the rotor, the dynamic characteristics of the bearings and/or the seals, and the external force. In order to improve the accuracy of the numerical model, we propose a method to identify all characteristic matrices in the vibration equation of a rotor based on the information on rigid and elastic properties which can be obtained by a vibration test without spinning. The rotor is assumed to be composed of a shaft which can be modeled as beam elements and rigid discs. The proposed method can be applied for model reduction in which the reduced number of beam elements is feasible to calculate the dynamic behaviour of the rotor.

著者

末岡 裕一郎 北 卓人 石川 将人 杉本 靖博 大須賀 公一

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:18848354)

巻号頁・発行日

vol.79, no.801, pp.1718-1727, 2013 (Released:2013-05-25)

参考文献数

15

被引用文献数

2 2

---

In this paper, we discuss some phenomena of obstacle clustering by distributed autonomous robots, in the light of space-discretization (or cellular automata) approach. This work was motivated by Swiss Robots which collect scattered obstacles into some clusters without any global information nor intelligent concentrated controller. Then we define fundamental event rules in this cellular world, and introduce two types of local rules for robot action: one is the Push & Turn rule, which can collect obstacles, the other is Pull & Turn rule, which can scatter obstacles. By defining several indices (ratio of immobile obstacles, ratio of moved obstacles), we investigate the dynamic equilibrium of obstacle clustering by heterogeneous agents. And, this paper also presents a control method of ratio of immobile obstacles from the estimation of each robot's local information even if all the states of obstacles cannot be measured.

著者

長谷川 貴大 中島 求

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:18848354)

巻号頁・発行日

vol.78, no.795, pp.3665-3676, 2012 (Released:2012-11-25)

参考文献数

9

---

The objective of this study was to clarify the effects of men's swimsuits on swimming position and muscle activity of body trunk in gliding motion. For this objective, a swimming experiment to measure electromyogram and gliding position in sagittal plane simultaneously was conducted for 3 types of men's swimsuit (A, B and C). Next, we compared experimental results one-on-one between the swimsuits by ANOVA. The results of the experiment and ANOVA showed that in wearing Swimsuit C, compared to Swimsuits A and B, hip became lower to shoulder (p<0.05), the hip joint became more extended (p<0.05), and the muscle activity of ES (Erector Spinae) and drag coefficient had tendency to decrease. In addition, we established a new index for the effect of body trunk support, which corresponds to the muscle activity of ES considering the change in the hip joint angle. We confirmed statistically that Swimsuit C had effects of extending hip joint and/or reducing the muscle activity of ES (p<0.05). The reason for this was considered to be that the Swimsuit C helped the hip extensor muscles.

著者

三村 宣治

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:18848354)

巻号頁・発行日

vol.79, no.806, pp.3652-3661, 2013 (Released:2013-10-25)

参考文献数

11

---

This paper investigates an efficient calibration method for 6 DOF parallel mechanisms by simulation. Since a calibration matrix has ill condition, many random measured poses are needed in calibration. In this paper, at first, we investigate about the number of measured poses, the condition number of calibration matrix and the calibration errors. The results show there exist the lower limits in the number of measured poses and the inverted condition number, and the decrease in the number of measured poses increases calibration errors. Next, we investigate reduction of the measured poses and the output data. The results show the calibration may be enabled, even if some measured poses and the output data are reduced. Based on the results, we find a minimal pose set required for a calibration, and show that even if the set of the simplified pose is used, the calibration errors do not increase so much.

著者

姜 晶哲 小森 雅晴 竹岡 郁 小野寺 祐治

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:18848354)

巻号頁・発行日

vol.77, no.782, pp.3871-3880, 2011 (Released:2011-10-25)

参考文献数

3

被引用文献数

4

---

Ratio variable transmissions are used when a wide range of speed and torque is required for mechanical devices. Geared transmissions are applied for a wide variety of machines. However, power and motion transmission from the input shaft to the output shaft is interrupted during the ratio changing process in geared transmissions. In order to solve this problem, a novel ratio variable system has been proposed in the previous report. This system uses a noncircular gear that can realize the reduction ratios of two gear pairs and has accomplished the ratio change from the first ratio to the second ratio while transmitting power and motion. In this report, multi-speed ratio variable system to transmit power and motion continuously is proposed in which a noncircular gear with multi-speed ratio is incorporated. Geometrical form of the noncircular gear for this system is analyzed. The experimental apparatus is constructed and the experimental result shows that this ratio variable system can realize multi-speed ratio change while transmitting torque and rotation.

著者

高田 洋吾 中村 毅志 小山 圭介 田尻 智紀

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:18848354)

巻号頁・発行日

vol.78, no.792, pp.2924-2934, 2012 (Released:2012-08-25)

参考文献数

21

被引用文献数

2 5

---

It is necessary for a small aqua robot to search for a target in order to investigate creatures such as fishes in a river or lake. However, control signals by electric wave from outside do not reach a robot easily in water. Therefore, aqua robots must search the target autonomously without signals from outside. It is important for a robot to gaze forward and recognize the target in water. In this study, we have used a fish robot named FOCUS which can swim in water by using the tail fin. This robot has some micro CMOS cameras and a FPGA circuit board for data processing. A red object is detected with the CMOS camera. In addition, FPGA calculates where the red object is located in the image. This robot controls the tail fin mechanism and submersible system in order to decide the course of the robot in response to the calculated positional coordinates. We have confirmed that this robot can recognize a color target and follow the target in water.

著者

舘野 寿丈 角田 陽 奥井 公太郎

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:18848354)

巻号頁・発行日

vol.79, no.798, pp.203-214, 2013 (Released:2013-02-25)

参考文献数

10

---

This paper deals with an alignment device for micro parts, which have a size in the order of 100 micrometers, by using a board stage that is vibrated in the natural frequencies of the various vibration modes. Part alignment is important for manufacturing processes, such as the assembling of small parts and the inspection of parts. Since it is difficult to grip and handle micro objects, a simple and reliable method is required. In this paper, the design concept and guidelines to realize such a device are presented. In addition to the theoretical representation, an example stage was designed for the alignment of the micro parts. It was also analyzed by Finite Element Method (FEM) simulations. Also, the designed vibration stage was fabricated using a stainless steel thin plate. Experimental results showed that the actual vibration is similar to both the theoretical results and the simulation results. As an example of the alignment of the micro parts, some micro-seize electronics parts were tested.