著者

河村 隆 山藤 和男 小林 剛

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.57, no.544, pp.3895-3900, 1991-12-25

被引用文献数

4

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The authors developed a 3D moving robot 'ROBOT CAT' which could control its posture in the air and could perform soft landing. This paper describes the control method of the ROBOT CAT and the experimental results. An animal cat can control its body by turning motion when released upside down from a high place. In order to realize this turning motion, the ROBOT CAT was consisted in two parts (anterior and posterior body) connected with a flexible backbone which has two degrees of freedom of motion. The backbone proposed in this paper operates on two pairs of artificial rubber muscles driven by compressed air. It is possible that this motion is applied to the posture control of astronauts and space structures.

著者

濱島 京子 柿倉 正義

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.63, no.607, pp.967-974, 1997-03-25

被引用文献数

14

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Research on labor saving and automation of housework by robots is proceeding rapidly due to the increasing population of aged persons and improved electronics in houses. The special problems concerning housework robots are the enormous complexity of the working environment and huge number and variety of objects in a house. Therefore the recognition function of the robot is desired to be highly independent of the working environment. Moreover, the robot should be able to treat various kinds of "nonsolid-form objects" in a house. The object of this research is to develop the technology by which a robot can handle nonsolid-form objects, particularly clothes. The final goal of the research is the creation of a housekeeping robot which can put unarranged clothes into order at a specified place. Some of the concrete subtasks of this job are taking out one form of clothes and expanding, classifying, folding and putting it in the specified place. In this paper we propose a planning strategy for the task of the unfolding clothes.

著者

野島 武敏

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.67, no.657, pp.1669-1674, 2001-05-25

被引用文献数

6 1

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This paper describes the folding/wrapping methods of thin flat circular membranes by using folding patterns prescribed by combining two groups of equiangular spirals. By using both folding conditions at nodes and continuous conditions of equiangular spiral type folding lines in the membranes, 2 kinds of folding patterns have been analytically designed ; (1)folding patterns consisting of pseudo equiangular spiral (zigzag type spiral) and equiangular spirals, and (2) folding patterns consisting of two groups of equiangular spirals. The availability of present folding/warpping methods of thin circular membranes has been verified by manufacturing paper and very thin metal sheet samples.

著者

鈴木 孝 柿 賢一 高橋 豊弘 中西 正義

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.74, no.746, pp.2403-2410, 2008-10-25

参考文献数

22

---

Hitachi Aero Plane Co. former Tokyo Gas Electric Industry Co. (Gas-Den), who also predecessor of Hino Motors, Ltd. developed an unique radial 22 cylinder aero-engine "HA51" by order of imperial army at the time of later period of the World War II. Although the engine could not be applied to test flight due to the end of the war, it has some advanced design features. For searching the design and the philosophy of this engine, brief history of the Gas-Den aero-engines was described in first part on this paper. That includes Japanese first own designed unique Shimpu (or Jimpuu) in 1928, Tempu (or Amakaze) and also Military Tank engine and others. The "HA51" engine was compared with "Homare" one of the Japanese high power engine and American P & W R2800. Unfortunately, some hypothesizes have to made on the engine, because it was missing at the war's end.

著者

冨田 信之

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.61, no.583, pp.922-929, 1995-03-25

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When a rocket is launched by a rail launcher, the rocket receives tip-off angular velocity caused by the moment due to engagement of the tail hanger of the rocket on the rail after clearance of rocket C.G. from the tip of the rail. This paper analyses one occasion, when small test rocket launched from a rail launcher experienced unexpected large pitch-down tip-off angular velocity. The rocket had two hangers, one of which was constrained by a detent mechanism prior to launch. When the rocket motor was fired, detent action caused torsional deflection of the shaft, which supported teh rail launcher. When the hangers got free, the shaft started oscillatory motion, which amplified the tip-off angular velocity of the rocket. Analysis of the dynamics of the rail launcher and the rocket was performed and numerical calculation was made to simulate the tip-off velocity. Measures for improvement were summarized.

著者

島村 真介 須賀 一博 江澤 良孝 青木 繁

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.73, no.729, pp.1480-1485, 2007-05-25

被引用文献数

1

---

Impact characteristics of a cue in billiards are evaluated numerically by developing a simple method. It is assumed that the cue and ball are elastic and rigid, respectively. The displacement of the cue is evaluated by the finite element method and that of the ball is calculated by solving the equation of motion. The time variation of impact force is estimated by equating these displacements at contact point. The accuracy of the analysis is checked by performing a detailed finite element analysis and an experiment, in which a freely supported cue is hit with a swinging ball. It is shown that (1) the impact force and the ball velocity increase with increase in the stiffness of the shaft, (2) the contact period decreases with increase in the stress wave velocity in the cue, (3) with increase in the stiffness of the tap, the impact force rises rapidly, reaches a large maximum value and falls in a short time (4) the ratio of slip to rotation of a ball during the contact period increases with increase in the stiffness of the shaft and the tap and (5) a peak appears in the time variation of impact force for a soft shaft due to the metal screw in the middle of the shaft.

著者

山田 陽滋 鴻巣 仁司 森園 哲也 梅谷 陽二

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.68, no.666, pp.509-516, 2002-02-25

被引用文献数

26

---

In the social context of an aging workforce at the labor intensive manufacturing sectors, we discuss an assisting system for older workers who have excellent skills though their physical ability to perform iterative tasks at a constant speed with high quality. "Skill-Assist" which is proposed in this paper is a new type of assisting system which varies its mechanical impedance to give workers who have been working under the lifetime employment system a sense of achievement in being again able to accomplish the skilled tasks they were capable of when younger. This paper discusses the control algorithm of Skill-Assist. First, a criterion for changing the impedance of Skill-Assist in response to task condition variations is explained to propose. "Phase-Dependent Impedance Control". Second, desirable impedance patterns are experimentally determined. The patterns are required to produce a good subjective operational feel and precise positioning when maneuvering Skill-Assist. Finally, the effectiveness of Skill-Assist is verified under more practical positioning tasks, which is evaluated based on the subjective operational feel, physical stress, and productivity.

著者

北島 洋樹 沼田 仲穂 山本 恵一 五井 美搏

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.63, no.613, pp.3059-3066, 1997-09-25

被引用文献数

31

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An automobile simulator experiment was carried out in order to develop a method of prediction of sleepiness based on mainly physiological parameters. Twelve subjects participated in the study. First, criteria variables of sleepiness were investigated since such variables have not been clear in many previous studies. Rated sleepiness based on facial expression was examined as a criteria variable in this research. Rated sleepiness by two examiners gave high correspondence (0.755), and mean correlation coefficient between this rated sleepiness and the subjects' self-rating sleepiness was also high (0.794). These results show that this rated sleepiness is considered to be reliable and valid as a criteria variable. Second, both physiological parameters and the driving performances were adopted as explanatory variables. Cross-correlation analysis between the rated sleepiness and these parameters showed that α/β at posterior-midline (Pz), blink duration, the rate of long blink and heart rate were relevant as general indexes of slepiness. Methods of prediction of sleepiness based on these results are mentioned in our second report.

著者

山中 将 猪狩 源宗 井上 克己

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.70, no.692, pp.1182-1189, 2004-04-25

参考文献数

17

被引用文献数

9

---

The crossed axle traction drive developed by the authors is applied to a new mechanism of CVT. The input and output shafts with conical disks are parallel and a idler shaft having conical rollers at both ends is placed perpendicular to the input/output shafts. This idler shaft transmits torque from the input shaft to the output shaft and its movement produces the speed variation by changing the contact point between the input/output disk and the idler roller. The purposes of this study are to propose the new CVT mechanism, to develop a prototype to confirm the CVT to work and to evaluate the transmission efficiency. The design procedure of disk and roller are shown by geometrical analysis and the method to apply contact force by using a loading cam is examined. The influence of a spin caused by changing the contact point and torque loss of bearings to the. transmission efficiency are evaluated. The range of speed changing ratio of the prototype is 0.5 to 2. The efficiency of 75% was obtained in case of input torque 10 Nm at uniform speed.

著者

尾形 哲也 菅野 重樹

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.65, no.633, pp.1900-1906, 1999-05-25

被引用文献数

16

---

This study discusses the communication between autonomous robots and humans through the development of a robot which has an emotion model. The model refers to the internal secretion system of humans and it has four kinds of the hormone parameters to use to adjust various internal conditions such as motor output, cooling' fan output and sensor gain. We surveyed 126 visitors at '97 International Robot Exhibition held in Tokyo (Oct. 1997) in order to exaluate psychological impressions of the robot. As the result, the human friendliness of the robot was confirmed and some factors concerning with the human robot emotional communication were discovered.

著者

臺丸谷 政志 小林 秀敏 PEARSON James Todd PEREZ Jose Luis 斉藤 文護

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.64, no.623, pp.2417-2423, 1998-07-25

被引用文献数

1

---

The present study is concerned with the estimation of power in Karate-doh. The measuring method and numerical estimation for impact forces produced by Karate-doh hand techniques such as Syutoh-uchi, Tettsui-uchi and so on, are discussed by experiments (by means of Tameshi-wari) and numerical simulations. In the beginning, an impact experiment of simply supported concrete beams was conducted to examine the impact response and the impact breaking of the concrete beam. And then Tameshi-wari of simply supported concrete beams was performed. In order to understand the mechanism of impact breaking of concrete beams by Karate-doh hand techniques, a numerical simulation was also carried using a dynamic finite element method with a Newmark-β method. The impact force generated between the hand and the concrete beam was estimated to be beyond 4.5 kN. It was also found that a reaction at both ends of the beam was almost never generated by virtue of the dominant modes of bending deformation of the beam. This indicates that, by means of Tameshi-wari, the impact breaking of the concrete beam floating in air is quite within the bounds of possibility. Therefore Tameshi-wari for concrete beams suspended in air was also tried and achieved the predicted results.

著者

田中 幸悦 高野 賢大朗 梶谷 誠 金森 哉吏

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.65, no.634, pp.2398-2404, 1999-06-25

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The authors have proposed a marking robot which draws specific marks at designated positions on a ceiling board at construction siteS. After that, a new function was added to the robot. It is necessary to be work which draws a reference straight-line to a ceiling board in building construction sites. This report proposes about the method which makes this task do for a mobile robot. The system is composed of the standard laser, the prototype of Straight-line Drawing Unit (SLD Unit) which has a function of tracking the laser beam and a function of drawing, and the mobile robot. The robot loads the SLD Unit and moves toward the standard laser. In order to catch the standard laser beam, the robot changes its trajectory. The robot controls its two drive wheels in a way that allows each wheel to move independently, so it can trace a straight line. Based on the experiments, the robot could the task of drawing the amplitude of the straight line with an accuracy of plus or minus 1 mm when drawing a 10 m line. This paper mainly describes the SLD Unit and the wheel control, and presents the experimental results of marking by the robot.

著者

田中 幸悦 梶谷 誠 金森 哉吏 阿部 靖則

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.69, no.679, pp.676-682, 2003-03-25

被引用文献数

2

---

We are developing positioning systems for mobile robots working at construction sites. In earlier work, we investigated the use of pillars as reference points at construction sites for a position recognition system, and reported on the performance of a prototype system. To further increase the flexibility of the robot system, we have developed a new self-position measurement system for the mobile marking robot. This new system is aimed at expansion of the work area of the marking robot. The system is composed of a prototype of a laserpointer robot and a marking robot with laser-spot detectors. The marking robot uses a point of laser light projected onto it by the laser-pointer robot, placed at a reference point, to determine its position. This report outlines the method for the self-position measurements and describes the performance of the system in a field test.

著者

菱田 典明 橋本 賢樹 平山 朋子 松岡 敬 矢部 寛

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.75, no.751, pp.727-734, 2009-03-25

被引用文献数

1

---

Tapered seal is widely applied to hold lubricating oil inside the clearance at the ends of fluid film bearing utilized in precise machines such as a spindle motor of HDD system. This study aims to analyze theoretically the fundamental working mechanism of tapered seal. Applying the analysis on meniscus of fluid surface due to the surface tension cooperating with the results of computational fluid dynamics for velocities and pressure fields under the axisymmetric and steady-state condition, the mechanism of the sealing ability of the tapered seal is clarified, and an index value which represents the sealing capacity of a tapered seal is introduced. The effects of some design and working parameters, such as the taper angle of the sleeve and the initial fluid volume, on the sealing capacity are discussed through the index value. The role of the barrier film coating on the sleeve surface to the sealing capacity is also studied theoretically.

著者

下山 勲

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.48, no.433, pp.1445-1455, 1982-09-25

被引用文献数

11

---

竹馬形2足歩行ロボット(BIPER-3)を試作し, 三次元的な動的歩行制御理論を提案し, その有効性をシミュレーションと実験により確かめた. この理論は, 片脚支持期の初期値さえ制御できれば, この期間内で誤差を0に修正しようとする制御を考えなくても系が安定になることに基づき, 簡単な線形フィードバック制御により実現できる.

著者

薮崎 清・ヒベルト 岩田 一明 荒井 栄司 小野里 雅彦

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.61, no.584, pp.1734-1739, 1995-04-25

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Computer representation of the product object is necessary for realization of concurrent engineering. This representation should be determined cooperatively by design and production departments using communication systems. This paper describes minimum design and production criteria to meet requirements and functions for modelling. The authors propose one method for representation of the product object, using object-oriented programming and an object-oriented database management system. Reliable data for this product object representation were obtained by interviewing several experienced designers and manufacturing engineers and through a literature search. Then, the authors developed a prototype and verified the validity. Based on a simple design experiment, the possibility of realizing human-centered concurrent engineering was clarified.

著者

畠 進

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.51, no.468, pp.1897-1905, 1985-08-25

被引用文献数

1

---

モーダル解析で高次モードの応答を静的応答で近似して補正する手法の有効性がすでに確認されている.本報では,この手法をモード合成法やフリーフリーの系へ拡張するために一般化座標の形で提示する.この一般化座標の意味あるいは解釈について述べた後,この一般化座標の計算アルゴリズム,この一般化座標を用いた場合の外力項の誤差の評価方法を示す.最後に,外力項の誤差が零になることを2種類の計算モデルで確認する.

著者

上西 甲朗 松久 寛 宇津野 秀夫 朴 正圭

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.70, no.697, pp.2624-2630, 2004-09-25

被引用文献数

3

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During a car frontal collision, some part of the occupant's kinetic energy is transferred to the vehicle through the restraint system. The high ratio of the transferred energy has the advantage of protecting the occupant. This phenomenon is called "ride down effect". It is known from experience that if the deceleration of the automotive body is large in the early stages of a collision, the effect becomes large, provided that the vehicle kinetic energy and the maximum value of the automotive body deformation are same. In order to design an automotive body structure taking into consideration the ride down effect, the dynamic relation between the occupant deceleration, which is one of important injury criteria, and the automotive body structure must be studied. However, there have been few researches to analyze the theoretical mechanism of the ridedown effect in detail. In this paper, we formulated ridedown effect focusing on the protection devices using a two-degree-of-freedom model for a vehicle and an occupant. The relationship between the index of the ride down effect and the occupant deceleration caused by crashing the automotive body structure was theoretically analyzed, and an optimum automotive crash design was examined.

著者

武田 行生 舟橋 宏明 中嶋 一貴

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.65, no.630, pp.844-849, 1999-02-25

被引用文献数

6

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This paper proposes a new index for performance evaluation of robotic manipulators from the point of view of high speed positioning. The proposed index is defined by the ratio of the positioning time realized by a manipulator for a set of starting position and desired position under a certain load condition and the minimum positioning time which is determined by the capacity of the actuators equipped with the manipulator. The results of computer simulations and experiments of evalution of the spatial inparallel actuated manipulator with six degrees of freedom developed by the authors have been presented. Comparisons of the proposed index with the transmission index and the adept motion cycly time have been presented. Through these results, effectiveness of the proposed index has been clarified.

著者

田窪 朋仁 吉岡 健伸 新井 健生 前 泰志 大原 賢一

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.75, no.759, pp.2996-3004, 2009-11-25

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Leg-wheel hybrid locomotion on rough terrain for a hexapod robot is realized by continuous transition between wheeled and legged locomotion based on sensor feedback. In basic positioning on a flat surface, the robot is supported by three legs and moves using its wheels. Upon sensing an obstacle, the robot's support and swing legs change as a tripod gait to cross over the obstacle. We define the three dimensional model of the motion on a slope for stability estimation, and its analysis indicates that the maximum obstacle height depends on the robot's height and the slope gradient. Even if the slope is steep, the robot can climb over a higher step on it by moving the robot's center of gravity (COG) based on the analysis. The experimental results on ASTERISK H confirm the advantage of proposed motion by comparing to the fixed COG motion.