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.

著者

喜多 陵勝 中楯 浩康 松井 靖浩 青村 茂

出版者

一般社団法人日本機械学会

雑誌

バイオフロンティア講演会講演論文集 (ISSN:13482939)

巻号頁・発行日

vol.2014, no.25, pp.17-18, 2014-10-02

著者

山口 珪次 中村 晃三

出版者

一般社団法人日本機械学会

雑誌

機械學會誌

巻号頁・発行日

vol.36, no.197, pp.605-611, 1933-09

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金屬、合金に力を加えて置いてその温度を上下すると、勿論一般に高温になる程軟かになる爲に變形殊に粘性變形が増加する。もし途中に相の變化即ち變態があるとそれ以外にその所で斯様な變形は著しく増加する。本文はその實驗報告で共析態變、溶解度の變化に伴なう析出變化、鑄鐵の黒鉛化等に就て粘性變形の異常の増加を確めた。著者の考へによれば之は加工硬化と軟化との釣合の變化のみでなく、變態する時の成分原子の配列變へに對する變形力の直接作用も含まれて居る。之は力を減らして彈性界限に近い程度にしても異常の變形はその程度からいえば反つて増加する傾向があるからである。終に斯様な現象の起り得る實例二つを掲げた。

著者

森田 由香里 森下 武志

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.2010, pp."1A1-G04(1)"-"1A1-G04(2)", 2010

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In natural world, there is the creature which can move by sternal recumbency like amphibians and reptiles. We investigated the ability varying the property and structure of the body using a walking robot of sternal recumbency. Change point of the structure given the elasticity of the legs. The property changed a soft belly and the soft squama. Ability to walk and power consumption existed characteristic by these conditions each, and these revealed that there is a valid form according to the situation.

著者

黒田 将史 岡地 範明 伊澤 精一郎 福西 祐

出版者

一般社団法人日本機械学会

雑誌

講演論文集

巻号頁・発行日

vol.2002, no.37, pp.50-51, 2002-03-16

著者

九里 真弘 山口 康隆

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 (ISSN:1348026X)

巻号頁・発行日

vol.2014, no.27, pp.683-684, 2014-11-22

著者

吉田 忠男

出版者

一般社団法人日本機械学会

雑誌

日本機械学會誌 (ISSN:00214728)

巻号頁・発行日

vol.93, no.857, pp.271-277, 1990-04-05

著者

水野 正夫

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 (ISSN:00290270)

巻号頁・発行日

vol.18, no.68, pp.58-60, 1952-03-15

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There are two kinds of method to caluculate stress of leaves of the laminated springs. The one assumes that each leaf is centilever, and the other assumes that all leaves are laminated with equal curvature. And it was known by experiments that stress due to load may be calculated by the former and that stress due to nipps by the latter in good accuracy. But at the center of leaves, because the leaves are tightly bound each other by means of center bolts or bands, the curvature of the all leaves may be equal, even if there are no load. Author introduced equation to find stress due to nipps of the laminated springs by the former method, and found that this equation coincide with experimental results better than by the latter method. And besides, with this method, introduced the equation for practical design to find curvature of each leaf with simplified stress caluculation.

著者

杉本 信行 橘 克弘

出版者

一般社団法人日本機械学会

雑誌

MPTシンポジウム伝動装置講演論文集 : JSME Symposium on Motion and Power Transmissions

巻号頁・発行日

vol.2007, pp.107-110, 2007-11-29

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For the robot hand of which the miniaturization is required, a new joint drive mechanism is proposed in this paper. This mechanism is composed of three members. The first member is a convex sphere with a spiral groove on the surface, and this member is the driving element of this mechanism. The second member is a concave sphere which wraps the convex sphere. At one place on the inside of this concave sphere, an internal tooth is buried. This tooth meshes with the spiral groove. This member is driven element of this mechanism, and it does the swinging motion. The third member is a spherical bearing which supports the rotating convex sphere. This spherical bearing is the fixed element of this mechanism, and it has the guide plane which decides the direction of the swinging motion. Here, the details of this mechanism are explained.

著者

富山 明男 宋 明良 南川 久人 坂口 忠司

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. B編 (ISSN:03875016)

巻号頁・発行日

vol.57, no.539, pp.2167-2173, 1991-07-25

被引用文献数

6

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In order to examine the feasibility of direct simulation of bubbly flows, the applicability of the VOF (volume of fluid) method to the analyses of a single rising bubble was examined in this study. Calculated bubble shapes and terminal velocities under wide ranges of Eotvos number and Morton number were compared with the experimental data summarized by Grace et al. Except for the cases when bubble shapes are spherical-cap and skirted, the VOF method could predict them well by assigning only eight cells to the bubble diameter. Hence, it was confirmed that some modification of this method will enable us to simulate bubbly flows directly under a wide-range of flow conditions. Moreover, the relation between a bubble shape and velocity distribution was examined within the ranges in which the VOF method is valid. It was found that the secondary vortex appearing in wobbling bubbles induces the velocity component normal to the bubble interface, and this velocity is one of the causes of the wobbling shape of the bubble.

著者

両角 宗晴

出版者

一般社団法人日本機械学会

雑誌

日本機械学會誌 (ISSN:00214728)

巻号頁・発行日

vol.64, no.514, 1961-11-05

著者

久保 幸夫 関目 茂 今村 俊夫 井本 利彦 上田 康弘 原田 昌幸

出版者

一般社団法人日本機械学会

雑誌

鉄道技術連合シンポジウム(J-Rail)講演論文集

巻号頁・発行日

vol.2006, no.13, pp.525-528, 2006-12-13

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Electric brake system in 103 series has been used for over 40 years, but it has a lot of troubles. So we tried to solve the following two troubles. ・ the lack of the brake effect in a high-speed region with the old-type-control machine called CS20C. ・ the lapse of the brake effect in about 30km/h region with the new-type- microcomputer-control machine called CS20D.

著者

平野 智之 NGOC Pham Hieu 長谷川 浩志

出版者

一般社団法人日本機械学会

雑誌

最適化シンポジウム講演論文集

巻号頁・発行日

vol.2010, no.9, pp."301-1"-"301-2", 2010-12-09

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In recent years, many researches of the biped robot for living side-by-side with people are reported. However, although many researches on a walking situation are reported, there is little research on the running situation. Therefore, we optimize the foot orbit of a biped robot using APGA (Adaptive Plan system with Genetic Algorithm). This optimization problem is tried by maximization of a reaching distance in the limit time, and its result is reported.

著者

高尻 雅之 白川 寿照 宮崎 康次 塚本 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. A編 (ISSN:03875008)

巻号頁・発行日

vol.72, no.723, pp.1793-1798, 2006-11-25

参考文献数

27

被引用文献数

8

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n-type bismuth-telluride thin films are fabricated by flash evaporation method. Effects of hydrogen annealing on the thin films are investigated for potential application in micro thermoelectric devices. The thin films are grown up to 1 μm on a glass substrate by flash evaporation method. The hydrogen annealing is carried out in the temperature range between 200-350℃ on an atmospheric pressure. The electrical resistivity and Seebeck coefficient are measured at room temperature. Both the electrical resistivity and Seebeck coefficient are improved by the treatment of hydrogen annealing, then the power factor of the n-type bismuth-telluride thin film reaches 8.8μW・cm^<-1>・K^2 at annealing temperature of 350℃. The structure of the thin films, which is composition and crystallinity, is studied by electron probe micro analyzer and X-ray diffraction pattern, respectively. The composition of bismuth-telluride thin films is relativity constant until higher annealing temperature. The X-ray diffraction patterns indicate that the crystallinity of the thin films is improved as higher annealing temperature.

著者

河原 誠二 佐川 憲彦

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:00214728)

巻号頁・発行日

vol.70, no.584, pp.1332-1338, 1967-09

著者

鈴木 洋平 高島 俊

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.2007, pp."1A2-C11(1)"-"1A2-C11(3)", 2007-05-11

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The purpose of this research is not only the development of an entertainment robot but also elucidation of human basic movement of throwing. Furthermore, the results may be applied to the future humanoid robot as one of the abilities of its arms. Therefore, we focus our attention on 'Shuriken nospin'. 'Shuriken nospin' is the method of throwing Shuriken with controlling rotation speed and translation speed of Shuriken. We study robot arm that throw nonspin Shuriken.

著者

宮崎 康次 黒崎 潤一郎 笠井 哲郎 原田 一興 塚本 寛

出版者

一般社団法人日本機械学会

雑誌

熱工学コンファレンス講演論文集

巻号頁・発行日

vol.2007, pp.421-422, 2007-11-23

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We fabricated bismuth-telluride based thin films and their in-plane thermoelectric micro-generators on a free standing silicon nitride thin film by using the flash evaporation method through shadow masks. The shadow masks are fabricated by standard micro-fabrication processes. The fabricated micro-generators are just put on a heated plate, and the open-circuit output voltages of micro-generators are measured by a digital voltmeter. The maximum measured voltage is about 40mV at 10K temperature difference. The output voltage is comparable to the bulk value although the device consists of as-grown thin films.

著者

長澤 純人 水谷 義弘 長澤 純人 水谷 義弘

出版者

一般社団法人日本機械学会

雑誌

日本機械学會誌 (ISSN:00214728)

巻号頁・発行日

vol.100, no.940, pp.284-286, 1997-03-05

著者

上田 芳孝 倉田 純一 内山 寛信 山口 淳

出版者

一般社団法人日本機械学会

雑誌

福祉工学シンポジウム講演論文集

巻号頁・発行日

vol.2008, pp.62-63, 2008-09-17

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Many elderly people find rehabilitation training pleasurable at first, but difficult to continue. One of the causes is the monotony of the training. In order to reduce this, we developed a foot-operated wheelchair called the "Step Walker" for walk rehabilitation training which allows the patient more freedom of movement. The Step Walker has a pedal with a linkage mechanism and can move forward when the patient performs the step movement. Musclar power can be improved by using this wheelchair, without the patient being conscious of training. Measurement of the action potential of the muscles during Step Walker use and walking showed the muscles of the leg required for walking could be effectively trained by using this Step Walker.

著者

遠藤 謙

出版者

一般社団法人日本機械学会

雑誌

日本機械学會誌 (ISSN:00214728)

巻号頁・発行日

vol.110, no.1063, pp.448-449, 2007-06-05