著者

金沢 謙一

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会誌 (ISSN:24242675)

巻号頁・発行日

vol.97, no.902, pp.29-33, 1994-01-05 (Released:2017-06-21)

参考文献数

4

著者

田中 崇裕 広瀬 茂男

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2006, pp._1A1-D28_1-_1A1-D28_4, 2006

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In this paper we explain the design of leg-wheeled hybrid jumping robot. First, we developed a light-weight and compact actuator, piston-wire mechanism. Using this mechanism, we achieved the high-speed movement of the leg. Then, the relationship between the jumping height and the motor position is considerd, and the effective design of leg-wheeled mechanism for jumping emerged. In addition, we developed a transmission mechanism inside of the leg frame. Finally, using the light-weight leg-wheeled mechanism, we experiment in wheel drive jumping.

著者

松岡 三郎 古谷 佳之 竹内 悦男 蛭川 寿 松永 久生

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 (ISSN:21879761)

巻号頁・発行日

vol.87, no.895, pp.20-00439, 2021 (Released:2021-03-25)

参考文献数

16

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In order to clarify the effect of internal hydrogen on the fatigue life properties of SUS304, SUS316 and SUS316L, tensile tests and low- and high-cycle fatigue life tests were carried out in air at room temperature using 10, 68 and 100 MPa hydrogen-charged specimens. High-cycle fatigue life tests demonstrated that S-N curve (i.e., relationship between stress amplitude, σa, and number of cycles to failure, Nf) of each steel was higher in hydrogen-charged specimen than in uncharged specimen. The increase in fatigue limit, Δσw, with internal hydrogen was 40 MPa in 100 MPa hydrogen-charged specimens, 20 or 30 MPa in 68 MPa hydrogen-charged specimens, and 0 or 10 MPa in 10 MPa hydrogen-charged specimens. Low-cycle fatigue life tests manifested that εta-Nf curve (i.e., relationship between total strain amplitude, εta, and number of cycles to failure, Nf) of 68 MPa hydrogen-charged specimen was nearly coincident with that of uncharged specimen in SUS316L, whereas 68 MPa hydrogen-charging markedly lowered εta-Nf curve in SUS304. The fraction of strain-induced martensite was measured on specimens fractured by tensile tests and low- and high-cycle fatigue life tests. The critical value of the martensite fraction below which 68~100 MPa hydrogen-charging does not cause hydrogen embrittlement, fmH, was 1 % in tensile tests. On the other hand, the fmH value was 9% in low- and high-cycle fatigue life tests. The increase in fatigue limit due hydrogen-induced solid solution strengthening, Δσw, in high-cycle fatigue life tests was expressed as Δσw (MPa) = 15.4 × 237H, where H is the hydrogen content (mass %). In addition, the hydrogen-induced strengthening of stress amplitude, Δσa, and 0.2% proof strength, Δσ0.2, in low-cycle fatigue life tests was expressed as Δσa+0.2 (MPa) = 15.4 × 296H. The results inferred that the contribution of hydrogen to solid solution strengthening was about 10 times larger than that of carbon and nitrogen when compared at the same mass concentration.

著者

匂坂 真依人 和田 正義 杉山 高聖

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2018, pp.1P2-E14, 2018

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<p>This paper is a study on power assist suit. We have developed an electric power assist device that has compliance to users. Next, we constructed a control system in which the assist device follows the movement of a human user. Then, we devised a control system that detects and automatically supports the movement of the user lifting up. In addition, in order to support multiple tasks of users, we constructed a system that automatically supports the action of climbing stairs. We confirmed that the intended action of PAS was realized by experiments.</p>

著者

西山 直杜 山下 清隆

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 (ISSN:21879761)

巻号頁・発行日

vol.86, no.881, pp.19-00251, 2020 (Released:2020-01-25)

参考文献数

8

---

The railway current collection system consists of a line and a pantograph. We take up the problem of the contact loss between a rigid conductor line and a pantograph. In order to avoid the damage on the line surface by the electric ark, it is important to prevent the contact loss. From the series of experiments with an actual pantograph system, an essential model that regards the contact loss as impact oscillations between a rigid conductor line and a pantograph was proposed. This model consists of a spring supported mass and an external exciting source that is pushed against the mass. In this paper, in order to suppress the impact oscillations, we add an oscillatory system coupled to the spring-mass system. Then, we consider the impact oscillations between the excitation source and the main mass in the two-degrees-of-freedom system. We numerically investigate the problems and obtain the bifurcating motions. When the exciting frequency is near the second mode natural frequency in the two-degrees-of-freedom system, the impact oscillations between the main mass and the external excitation source is suppressed. We conducted a series of experiments in order to verify the theoretical results. The experimental results also reveal the suppression of the impact oscillations. The experimental results qualitatively well agreed with the theoretical predictions.

著者

山口 博明 新井 民夫

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:03875024)

巻号頁・発行日

vol.70, no.691, pp.774-781, 2004-03-25 (Released:2011-03-04)

参考文献数

6

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This paper presents a novel path planning methodology using Bezier curves for a cooperative transportation system with two car-like mobile robots. We first transform the kinematical equation of this transportation system into two-chain, single-generator chained form in a coordinate system where a path is a curved line axis and a straight line perpendicular to the tangent of the path is another axis. The carrier of the transportation system can follow any path as long as its curvature is two times differentiable. The orientation of the carrier is uniquely determined according to the orientation of the tangent of the path. We secondly set the path to be a Bezier curve and we arrange the controlling points of the Bezier curve based on the working environment of the transportation system, e. g., in order for it to avoid collisions wit obstacles. The validity of this path planning methodology is supported by computer simulations.

著者

岩本 正実 田中 英一 伝田 耕平 山本 創太

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 A編 (ISSN:03875008)

巻号頁・発行日

vol.71, no.705, pp.872-879, 2005-05-25 (Released:2011-03-02)

参考文献数

19

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An anisotropic inelastic constitutive model of cortical bone was formulated to predict deformation and failure behavior in traffic accidents or falling by utilizing the framework of viscoplasticity and damage mechanics. The model can represent characteristic features of cortical bone, such as anisotropic elastic coefficients with strain rate dependency, viscoplasticity with strength anisotropy as well as strength asymmetry of tension and compression. The damage evolution equation also enables us to predict bone failure with rate dependency. Experimental data of uniaxial compressive or tensile loading tests of human cortical bone at various strain rates were used to validate the proposed model. Predicted stress-strain curves and failure points agreed well with those of experimental data at wide range of strain rates. This shows the present model can be used to predict bone failure in various impact simulations of traffic accidents or falling.

著者

西村 和真 秋山 隼人 脇坂 久 青木 悠祐

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2014, pp._3P1-B01_1-_3P1-B01_4, 2014

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Among various medical problems facing us in today's Japan are rapidly aging society, localization of medical doctors, concentrated visits of patients to large hospitals, etc. Development of diagnostic and treatment support systems is considered a solution to a pressing problem to help reduce loads on medical doctors. So, we have developed the ReDAT (Robotic-echography for Diagnostic and Treatment support system) to be able to diagnose by cooperative operation. However, the conventional system is not implemented yet the angle control system and probe pivot manipulation. Therefore, in this paper, we have constructed the position and angle control system for probe pivot manipulation. The mechanism for angle control is required to be small in size and light in weight, so that the position and control system works high accuracy and high-speed. Then, we have developed the mechanism using a wire drive, and performed experiments to confirm the accuracy and responsiveness.

著者

鈴木 新一 ボールド エンフアムガラン バトサイハン ビルグン ジャルガルサイハン バトザヤ バヤラサイハン ヤンダグフー バドサイハン ハシエルネデ ジャワハラン ガントゥシグ アビルメデ オトゴンバヤル

出版者

一般社団法人 日本機械学会

雑誌

M&M材料力学カンファレンス

巻号頁・発行日

vol.2018, 2018

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<p>Deterioration of large infrastructures that were constructed in the period of rapid economic growth is becoming a big problem in Japan these days. One method to measure the deterioration is to use optical method that can measure deformation or strain of a structure from a position far from the structure, and the other is to use a robot that moves on the surface of the structure and measures the deterioration of it. When one uses a mobile robot to inspect the deterioration, it is necessary for the robot to detect its own position. The paper describes basic experiments on the detection of position of a mobile robot. Two rotary encoders are used to measure the position of the robot as a function of time. When the robot moves by 8.7 m in <i>x</i>-direction, the error <i>Δ</i>y of the position in <i>y</i>-direction was about ±5 cm. In circular motion, the radius of real trajectory of the robot is approximately equal to the objective radius, whose error was 0.7% on the average.</p>

著者

井上 達雄

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会誌 (ISSN:24242675)

巻号頁・発行日

vol.107, no.1027, pp.417-419, 2004-06-05 (Released:2017-06-21)

参考文献数

20

著者

小出 瑞康 関崎 敬広 山田 修一 高橋 勉 白樫 正高

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B編 (ISSN:18848346)

巻号頁・発行日

vol.77, no.775, pp.702-714, 2011 (Released:2011-03-25)

参考文献数

11

被引用文献数

5 4

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The target of this research is to develop a micro electric power generator for a low cost small river monitoring device. First, the power generation by VIVs, its efficiency coefficient and the optimum condition of the generator were estimated from energy balance analysis based on the assumption that VIVs can be regarded as a resonance oscillation of a linear system. Second, water tunnel experiments were carried out and it was confirmed that the trailing vortex induced vibration (TVIV) occurs on a cruciform circular-cylinder/strip-plate system over a velocity range about 15 times wider than that of Karman vortex induced vibration (KVIV). Finally, power generation experiments were carried out by utilizing TVIV. The generator circuit consists of coils mounted on the circular cylinder vibrated by TVIV and magnets fixed on rigid supports. The generator is shown to extract energy from the water flow in the same way as a viscous damper over the expected velocity range. Although the efficiency coefficient of TVIV is lower than that of KVIV, it is more appropriate for natural rivers of which flow velocity changes greatly.

著者

佐藤 理 岩井 裕 吉田 英生

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 (ISSN:21879761)

巻号頁・発行日

pp.18-00365, (Released:2019-02-21)

参考文献数

18

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The purpose of this study is to develop an analytical model of cross-flow heat exchangers with offset strip fins which are usually equipped in the aircraft air conditioning system (so called the environmental control system, ECS). The ECS mainly consists of four cross-flow heat exchanges, i.e., a primary heat exchanger, a secondary heat exchanger, a reheater and a condenser. Because of the special requirements of the design for the aircraft, the primary and secondary heat exchangers are set adjoiningly; the reheater and the condenser are also set adjoingly. Therefore, in both the pairs, the effect of the temperature profile of the upstream component (the secondary heat exchanger or the reheater) on those of the downstream component (the primary heat exchanger or the condenser) should be taken into account for precise prediction of the system. To this end, a core element model was newly proposed in this study. In addition to the effect of temperature profile, phase changes (condensation and evaporation) of water included in the humid air simultaneously occur except for the primary heat exchanger. Regarding these phenomena, the method of sensible heat fraction (SHF) to convert the latent heat into the equivalent sensible heat was introduced, and the global and local SHF models were examined by comparison with the experiments. The prediction by these models were found to agree well with the actual performance of the ECS operations.

著者

鬼頭 史城

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会誌 (ISSN:24242675)

巻号頁・発行日

vol.63, no.503, pp.1605-1612, 1960-12-05 (Released:2017-06-21)

著者

内野 峻輔 佐藤 太一 中村 裕幸 五十嵐 洋

出版者

一般社団法人 日本機械学会

雑誌

IIP情報・知能・精密機器部門講演会講演論文集

巻号頁・発行日

vol.2016, pp.G-4-2, 2016

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<p>In this study, we constructed a driving simulator and attempted to assist the driver in parallel parking by presenting auditory stimuli. For this purpose, we developed an acoustic information system that has the driver turn the steering wheel on the basis of sound-pressure differences in white noise output from left and right speakers. This system provides acoustic feedback to the driver based on deviation from the target value for steering wheel operation. First, we conducted an experiment to identify the manner in which people react to acoustic information given in this way and establish appropriate control parameters. Next, we investigated how acoustic information could affect driving characteristics in parallel parking. Furthermore, based on the parallel parking experimental results, we investigated and fixed the appropriate control parameters for each operating value of steering wheel. Even if we use the fixed control parameters, the acoustic information system is effective in providing driving support.</p>

著者

佐藤 心平 松田 健一 近藤 良 増澤 徹

出版者

一般社団法人 日本機械学会

雑誌

茨城講演会講演論文集

巻号頁・発行日

vol.2011, pp.91-92, 2011

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A 5-DOF self-bearing motor has been proposed to achieve a compact active magnetic bearing (AMB) system. The 5-DOF self-bearing motor possesses the functions of a motor, two radial AMBs, and an axial AMB. Therefore, it is possible to downsize the AMB system with maintaining high performance. In this paper, interior permanent magnet (IPM) type 5-DOF self-bearing motor is proposed. It is analyzed to realize the further downsize for the application of an artificial heart using 3 dimensional finite element method. The analytic condition is set that the motor torque is 30mNm, the control force is quintuple of the rotor gravity (5G). The optimization result shows the sufficient miniaturization for an application of the artificial heart pump.

著者

石峰 潤一 青木 健一朗

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会誌 (ISSN:24242675)

巻号頁・発行日

vol.105, no.999, pp.70-73, 2002-02-05 (Released:2017-06-21)

参考文献数

4

著者

小平 剛央 大山 聖 釼持 寛正 立川 智章 渡辺 毅

出版者

一般社団法人 日本機械学会

雑誌

計算力学講演会講演論文集 2016.29 (ISSN:24242799)

巻号頁・発行日

pp.038, 2016 (Released:2017-06-19)

被引用文献数

1 1

著者

山田 崇恭 正宗 淳 寺本 央 長谷部 高広 黒田 紘敏

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 (ISSN:21879761)

巻号頁・発行日

vol.85, no.877, pp.19-00129, 2019 (Released:2019-09-25)

参考文献数

22

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This paper aims to develop a scheme for geometrical feature constraints in topology optimization for Additive Manufacturing (AM) without support structures based on the Partial Differential Equation (PDE) of geometrical shape features. To begin with, the basic concept of topology optimization and a level set-based topology optimization method are briefly described. Second, the PDE system for geometrical shape features is formulated. Here, aspects of the distribution of state variables are discussed using an analytical solution of the PDE. Based on the discussion, a function indicating the extended normal vector including geometrical singularity points is formulated. Third, geometrical requirements of product shape in AM without support structures – the so-called overhang constraint – are clarified in two-dimensions. A way of extending of the proposed concept to three-dimensional problems is also clarified. Additionally, geometrical singularities in the overhang constraint are discussed. Based on the PDE system and the clarified geometrical requirements, the overhang constraint including geometrical singularities is formulated. A topology optimization problem of the linear elastic problem is formulated considering the overhang constraint. A level set-based topology optimization algorithm is constructed where the Finite Element Method (FEM) is used to solve the governing equation of the linear elastic problem and the PDE, and to update the level set function. Finally, two-dimensional numerical examples are provided to confirm the validity and utility of the proposed method.

著者

堀 光平 林 巌

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:03875024)

巻号頁・発行日

vol.60, no.579, pp.3940-3947, 1994-11-25 (Released:2008-02-26)

参考文献数

10

被引用文献数

1 1

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Mechanical paradox planetary gears are suitable for power transmissions of current robots, such as space manipulators, which drive large-inertia loads, because the gears offer high reduction ratio, small size, light weight and high reliability. However, mechanical paradox planetary gears are subject to a drawback in that their efficiencies are lower than those of conventional planetary gears. The efficiencies of mechanical paradox planetary gears are hence theoretically analyzed and evaluated by defining the tooth number modification of a planet gear to deal with all the possible combinations of tooth numbers. The following results are obtained : the efficiencies are greatly influenced by the efficiencies of the planet and internal gear pairs ; the maximum efficiencies are minimally influenced by the reduction ratio, and they are obtained when the factors of the contact ratio of the gear pairs are approximately equal ; the maximum efficiency is approximately 78% if the tooth surface friction coefficients are 0.1.

著者

富永 貴博 熊畑 清 松澤 照男

出版者

一般社団法人 日本機械学会

雑誌

北陸信越支部総会・講演会 講演論文集 2004.41 (ISSN:24242772)

巻号頁・発行日

pp.107-108, 2004-03-01 (Released:2017-06-19)