著者

明 愛国 清水 晃 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.60, no.1, pp.91-96, 1994-01-05 (Released:2009-06-30)

参考文献数

3

---

A robot machining system for industrial art objects has been developed. The objective of the system is both to make good use of technical skill of artist or artisan, and to realize the automation of machining of industrial art objects. The developed system is composed of three units: (i) input unit to record the machining data of artist or artisan directly, or to measure the model of an industrial art object; (ii) data processing unit to generate and modify model from the input data, and to transform model data into machining data; (iii) machining unit to machine industrial art objects according to obtained machining data. In this paper, the general philosophy about the system is given, and the construction of developed system, design policy and functions of each unit are described. An example of machining experiments is given to show the practical availability of the system.

著者

寺田 英嗣 石田 和義 地場 広幸 牧野 洋 入江 禀三

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.67, no.11, pp.1829-1833, 2001-11-05 (Released:2009-04-10)

参考文献数

7

被引用文献数

1

---

Trochoidal sprocket for roller chain drive system has been developed which is used for a positioning mechanism. This system consists of a conventional roller chain and a pair of trochoidal sprockets. These sprockets are generated using trochoidal loci, which the tooth profile is shifted. Especially, the developed system can eliminate backlash In this report, the kinematical tooth profile conditions are analyzed. Also a prototype of a trochoidal sprocket is constructed using the optimal values and is tested for the positioning performance. It is proved that the positioning performance can be improved using the developed sprockets, compared with the case of using conventional one.

著者

蘭 豊礼 玉井 博文 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.76, no.10, pp.1194-1199, 2010-10-05 (Released:2011-04-05)

参考文献数

9

被引用文献数

2 10

---

This paper describes trajectory design using clothoid segments. As a trajectory path, clothoid is superior to the other curves because its curvature varies linearly with its curve length. However, a single clothoid segment is not able to match both tangent and curvature designation at its terminals because it has no sufficient parameters. In our study, “triple clothoid” is introduced to match both tangent and curvature designations. The triple clothoid is a set of three clothoid segments connected internally with curvature continuity. It has sufficient parameters needed for tangent and curvature matching at its terminals. The triple clothoid segments are used to construct a smooth transition passing through arbitrary point sequence. The resultant trajectory possesses curvature continuity and matches all tangent and curvature designations at the giving points. Those results are extended from two-dimensional (2D) to three-dimensional (3D) space. In 3D space, a predefined 3D clothoid is used to construct triple 3D clothoid. The resultant 3D trajectory also possesses kinematical superiority because of its differential linearity in both pitch and yaw angles. The triple clothoid can also be used for connecting two straight segments with curvature continuity.

著者

王 樹華 明 愛国 牧野 洋 清水 晃

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.60, no.4, pp.544-548, 1994-04-05 (Released:2009-06-30)

参考文献数

5

---

A teaching robot has been developed for the purpose of sophisticated teaching operations, such as to input technical skill of artist or artisan when machining industrial art objects. To realize easy operation, the teaching robot is constructed with a seven D.O.F. articulated mechanism and a two D.O.F. working table, in total has nine D.O.F. To improve teaching accuracy, error analysis and calibration for all geometric parameters are performed. As the results of experiments, an accuracy of 0.75mm(±3σ) by the teaching robot has been obtained. In this paper, error analysis of the teaching robot and geometric error model of it are discussed. Calibration algorithm and accuracy estimation are described also. Finally, an example of teaching and playback is shown.

著者

明 愛国 古屋 信幸 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.54, no.7, pp.1265-1271, 1988-07-05 (Released:2010-01-27)

参考文献数

5

---

A new type robot called “Spherical SCARA (Spherical Selective Compliance Assembly Robot Arm) Robot” for the use of operations on a spherical plane has been developed. The robot has basically three joints (two rotational and one translational). It has the characteristic construction of “selective compliance”, that means, the compliance in the normal direction to the working sphere is small, and which in the tangent plane and for momental force are large. With this construction the robot is adaptable to assembly operations, especially for insertion. In this report basic concepts on the robot are given, and several characteristics (coordinates transformation, singularity, compliance, positioning resolution, dynamics) are discussed.

著者

蘭 豊礼 玉井 博文 三浦 憲二郎 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.78, no.7, pp.605-610, 2012-07-05 (Released:2013-01-05)

参考文献数

20

被引用文献数

2 1

---

In two-dimensional(2D) space, the clothoid is a preferred trajectory curve because its curvature varies linearly with its curve length. However, in three-dimensional(3D) space, both curvature and torsion must be considered. This paper deals with path generation using linear curvature and torsion segments which can be considered a 3D extension of the 2D clothoid. In our study, the path segments are generated by solving the Frenet-Serret equation. In every path segment, its curvature and torsion varies linearly with its curve length. In order to obtain more free parameters, plural curve segments are connected in series to make a compound curve. The curve is used to connect two given points which may have given Frenet-Frame, curvature and torsion constraints. These curves are also used to construct a smooth transition passing through an arbitrary point sequence. The resultant path possesses C2 as well as torsion continuity and matches all given Frenet-frame, curvature and torsion constraints at the given points.

著者

牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.71, no.10, pp.1223-1223, 2005-10-05 (Released:2009-04-10)

著者

金 嘯海 古屋 信幸 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.62, no.5, pp.732-736, 1996-05-05 (Released:2009-06-30)

参考文献数

3

---

Parallel mechanism is composed of a platform connected to a fixed base by some linear actuators called struts. The kinematic chains of parallel mechanism are driven by these actuators to its base and has high stiffness and low weight so it can realize high speed and accurate positioning ability. The Stewart platform is one of the parallel mechanism. In serial mechanism, the direct kinematics solution is easy, but the inverse kinematics solution is very involved. The other way, in the parallel mechanism the inverse kinematics solution is easy but the direct kinematics solution is very involved. In this paper, a new method named “origami solution” to solve the direct kinematics solution of Stewart platform is proposed and some basic equations in “origami solution” are conducted. This method is based on the “Geneqc.c” which is a computer program to get roots of general equations. In the last, the method is evaluated by some examples of the Stewart platform. The direct kinematics solution is solved in 0.01mm accuracy in about 1 second calculation time by 32 bit computer.

著者

汐崎 勤 牧野 洋

出版者

公益社団法人 精密工学会

雑誌

精密機械 (ISSN:03743543)

巻号頁・発行日

vol.45, no.530, pp.148-153, 1979-02-05 (Released:2009-06-30)

参考文献数

3

---

It is frequently observed that a PTP (point-to-point) robot shows unexpected singular motion in case of large displacement. This is because of the controlling method used whichattempts to give the maximum speed to any axis. In this report another method of controllingis proposed, which gives the same motion characteristics to all axes in the same period, justlike as cam-controlled. Computer simulation has proved that the resultant hand motion isvery similar to the given axes motion, and the motion locus is smooth and has no singularityby utilizing this method.

著者

黒澤 豊樹

出版者

公益社団法人 精密工学会

雑誌

精密機械 (ISSN:03743543)

巻号頁・発行日

vol.49, no.11, pp.1475-1480, 1983-11-05 (Released:2010-01-20)

参考文献数

15

著者

稲葉 清右衛門

出版者

公益社団法人 精密工学会

雑誌

精密機械 (ISSN:03743543)

巻号頁・発行日

vol.35, no.410, pp.195-198, 1969-03-05 (Released:2009-06-30)

参考文献数

3

著者

葛 宗涛 高 偉 竹内 一弘 清野 慧

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.63, no.7, pp.967-971, 1997-07-05 (Released:2010-02-16)

参考文献数

15

---

2-D software datum named as the 2-D mixed method has been constructed to measure mirror surface profiles. The probe of this method consists of two displacement and two angle sensors. Differential calculation of outputs of these four sensors eliminates pitch, roll and the z-directional translation errors of the scanning stages. An autonomous procedure to estimate and compensate the zero-adjustment error among these four sensors is also proposed. By using this software datum, 2-D profiles of ultra-precision surfaces can be measured absolutely without using any external reference. An experimental probe for realizing the 2-D mixed method has been developed and a mirror surface of 128 mm long and 64 mm wide was measured with the probe. Repeatability of measurements and reproducibility compared with the differential angle method have shown high reliability of the proposed method

著者

佐藤 雄隆 金子 俊一 坂上 勝彦

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.77, no.12, pp.1121-1124, 2011-12-05 (Released:2012-06-05)

参考文献数

12

著者

堀内 茂木 吉澤 信 森田 晋也

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.78, no.1, pp.1-4, 2012-01-05 (Released:2012-05-17)

被引用文献数

2

著者

下沢 楯夫

出版者

公益社団法人 精密工学会

雑誌

精密機械 (ISSN:03743543)

巻号頁・発行日

vol.47, no.9, pp.1088-1095, 1981-09-05 (Released:2009-06-30)

参考文献数

28

著者

大谷 幸三 馬場 充

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.78, no.10, pp.880-886, 2012

---

An appearance inspection is one of the most suitable applications of a laser rangefinder. In such a field, many products are designed by 3-D CAD. Therefore, the appearance inspection of products validates the deviation between the designed 3-D data and the measured 3-D data. There are a lot of products of specular objects with shiny surface such as polished metals and plastic materials. However, conventional triangulation-based rangefinders are known to be difficult to apply to the 3-D shape measurement of such shiny objects. In this study, we propose an advanced laser rangefinder to be able to obtain the 3-D shape of specular objects and apply the rangefinder to an appearance inspection system.

著者

柚木 彰 黒澤 忠弘

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.78, no.1, pp.35-38, 2012-01-05 (Released:2012-07-05)

参考文献数

3

著者

羽根 一博 奥山 賢一 佐々木 実

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.64, no.10, pp.1532-1536, 1998 (Released:2009-06-30)

参考文献数

6

被引用文献数

1 1

---

With an intense thermal variation, optical encoder yields measuring error because of the generation of nonlinear strain due to the difference of the thermal expantion coefficient between a glass scale and a metallic parts of machines. In this study, a method of using a grating which is directly manufactured on a metallic surface of parts of machines is proposed. Using this method, the thermal strain is made linear and the error becomes simplified to calibrate. Furthermore, it realizes a miniaturization of the system and improves its vibration-resistance. This paper shows the process of making a grating on a metallic surface by photolithography using some methods and ascertains the sufficient performance of this scale in an optical encoder.

著者

新谷 昌人

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.77, no.4, pp.367-371, 2011-04-05 (Released:2011-10-05)

参考文献数

10

著者

寺田 英嗣 輻形 和幸

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.76, no.5, pp.546-551, 2010-05-05 (Released:2010-11-05)

参考文献数

8

被引用文献数

1 6

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The motion planning approach of a multi-robot system for the “Furoshiki” wrapping operations has been newly developed. This approach considers the loci of the handling points for the wrapping and the tying of the sheet. Especially, to avoid the complex motion of tying at the “Mamusubi” operation, the newly approach has been proposed. This approach divides the crossing operation into the two motions. The one is the 2-dimensional motion and the other is the wrapped object rotation around vertical axis. Also, this multi-robot system consists of the two handling robot arms, the shifting operation robot arm and the rotating mechanism for the wrapped object. The handling robot arms consist of a 2-DOF SCARA type robot and a 1-DOF linear motion system. And the shifting operation robot arm is the 3-DOF SCARA type robot which can adjust the pose of the End-effector. In this report, the proposed approach is verified using a prototype robot system. And it is confirmed that the testing rectangular object can be wrapped and tied the desired shape.