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Masaru UCHIYAMA, Yoshihiro NAKAMURA, Kyojiro HAKOMORI
1987 Volume 5 Issue 1 Pages
4-10
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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In this paper we discuss the evaluation of robot force sensor structure. First, we present framework for understanding the principle of force measurement in the sensor. Next we derive a standard for the evaluation of the force sensor structure making note of the measurement error in force sensing. In the process of derivation, we use singular value decomposition techniques which are commonly used in the field of numerical analysis and clarify the mathematics of force sensor structure. Lastly, we evaluate, analyze and compare several prototypical force sensors based upon the standard derived.
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[in Japanese]
1987 Volume 5 Issue 1 Pages
11
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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[in Japanese]
1987 Volume 5 Issue 1 Pages
12-13
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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Shigeoki HIRAI, Tomomasa SATO
1987 Volume 5 Issue 1 Pages
14-18
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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This paper proposes the following design principles for direct-drive master manipulator: 1) All joints are directly driven by torque motors. 2) All links are self-balanced, and minimization of inertia around the first axis is considered. 3) The fourth, fifth and sixth axes are intersecting in one point.
A master-manipulator realized based on these principles has shown the following characteristics: 1) No backlash can be observed. Positional measurement errors are within 1 mm in the meaning of standard deviation. 2) Stationary friction torques are 0.17 N, 0.039 N and 0.059 N in x, y and z direction respectively. 3) Linearity of generated force is satisfactory and deviation is about 0.03 N.
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Takashi EMURA, Zhawei ZHONG
1987 Volume 5 Issue 1 Pages
19-22
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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This short paper describes an application of a direct drive servomechanism to a NC hobbing machine. Since the backlash of the hob-spindle and work-table of the NC hobbing machine gives some bad influences to the gear cutting process, the authors tried to remove this backlash by means of direct drive.
In order to obtain some basic data of the direct drive NC hobbing machine, a prototype was made. This prototype has the ability to cut a spur gear whose module is 1.5 and whose pitch diameter is 57 mm at one time cut.
Some cutting experiments verified that the direct drive servomechanism is usefull for not only robot mechanism but also NC gear cutting machine.
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Hirohiko ARAI, Susumu TACHI, Isamu MIYAJIMA
1987 Volume 5 Issue 1 Pages
23-26
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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This report describes a mobile CRT display system for remote operation. The system compensates inertia of the CRT display by the method of internal feedback and helps the operator manipulate the display by his head movement. By considering elasticity, it can compensate about 50% inertia of CRT.
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Tatsuo ARAI, Tomoaki YANO, Ryouichi HASHIMOTO, Eiji NAKANO
1987 Volume 5 Issue 1 Pages
27-35
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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Hajime KUWAHARA, Yutaka ONO
1987 Volume 5 Issue 1 Pages
36-43
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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This paper describes the development of a direct-drive manipulator with six degrees of freedom, and its improvement for the practical use. The direct-drive was thought to be the most idealistic drive method for articulated manipulators, and in this research, it was incorporated to obtain both high positioning accuracy and high reliability using this method.
To realize useful direct-drive manipulator with reasonable production cost, special servo components were developed. The actuator is an inductor type synchronous motor which has about 40 times higher torque than that of DC motors of the same weight, and the position sensor is an optical resolver with very high resolution of 1, 146, 880 pulses/rev.
An articulated manipulator with six degrees of freedom was developed using these servo components, and both the positioning resolution less than 3μm and the repeatability less than 2μm were obtained. Moreover, a new improved prototype model was developed, and was successfully applied to the adjust ment and final testing of industrial recorders.
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Haruhiko ASADA
1987 Volume 5 Issue 1 Pages
44-47
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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Haruhiko ASADA
1987 Volume 5 Issue 1 Pages
48-54
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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Kunikatsu TAKASE
1987 Volume 5 Issue 1 Pages
55-60
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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Takanobu IWAKANE, Yasuhiro MIYAMOTO
1987 Volume 5 Issue 1 Pages
61-66
Published: February 15, 1987
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Kenichi OTSUKA, Atsushi UCHIYAMA
1987 Volume 5 Issue 1 Pages
67-71
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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ETL's Torque-controllable Arm
[in Japanese]
1987 Volume 5 Issue 1 Pages
72
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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[in Japanese]
1987 Volume 5 Issue 1 Pages
72a
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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[in Japanese]
1987 Volume 5 Issue 1 Pages
73
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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[in Japanese]
1987 Volume 5 Issue 1 Pages
73a
Published: February 15, 1987
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[in Japanese]
1987 Volume 5 Issue 1 Pages
74
Published: February 15, 1987
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[in Japanese]
1987 Volume 5 Issue 1 Pages
74a
Published: February 15, 1987
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[in Japanese]
1987 Volume 5 Issue 1 Pages
75
Published: February 15, 1987
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[in Japanese]
1987 Volume 5 Issue 1 Pages
75a
Published: February 15, 1987
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[in Japanese]
1987 Volume 5 Issue 1 Pages
76
Published: February 15, 1987
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[in Japanese]
1987 Volume 5 Issue 1 Pages
76a
Published: February 15, 1987
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Fumio MIYAZAKI
1987 Volume 5 Issue 1 Pages
81
Published: February 15, 1987
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Shigeo HIROSE
1987 Volume 5 Issue 1 Pages
82
Published: February 15, 1987
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Masanori IDESAWA
1987 Volume 5 Issue 1 Pages
83-84
Published: February 15, 1987
Released on J-STAGE: August 25, 2010
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