JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry
Print ISSN : 0914-8825
Volume 32 , Issue 1
Showing 1-23 articles out of 23 articles from the selected issue
  • Masaru UCHIYAMA
    1989 Volume 32 Issue 1 Pages 1-9
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    The state of the art of motion control and force control of robot arms is reviewed and the kinematics and statics of sophisticated robot arm mechanisms such as the redundant arm, multiple arms and the flexible arm are unified from a new viewpoint of the system theoretical approach. The two main techniques for the motion control are model-based control and feed-back control. A feedback control scheme called disturbance cancellation control is a challenge to the model-based scheme to eliminate the inverse dynamics calculation. Transition problems regarding the force control such as collision detection and collision force control are new problems of interest. The system theoretical approach to the arm mechanisms is an effective means of understanding the mapping relation between the workspace and the jointspace and gives fundamentals to the task description in the workspace.
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  • Atsuo SUEOKA, Takahiro KONDOU, Deok Hong MOON, Katsuya YAMASHITA, Hide ...
    1989 Volume 32 Issue 1 Pages 10-18
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    This describes a formulation for the in-plane flexural free vibration analysis of primarily a double straight line structure by the transfer influence coefficient method. The structure is modeled as a discrete system with lumped masses, lumped inertia moments, and massless linear and rotational springs. The present method does not require any change in the fundamental algorithm, but necessitates only substitution of appropriately large values into the corresponding spring constants when intermediate elastic supports are numerous and very stiff. The boundary conditions are also controlled by the values of the spring constants. The results of the simple numerical computational examples on a personal computer demonstrate the validity of the present algorithm; that is, the numerical high accuracy, the high speed and the flexibility for programming of the transfer influence coefficient method, compared with the transfer matrix method.
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  • Takashi MOCHIO
    1989 Volume 32 Issue 1 Pages 19-24
    Published: March 15, 1989
    Released: February 18, 2008
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    A method for estimating the dynamic reliability of hysteretic structures under combined time varying loads is investigated in this paper. The response statistical moments of structures, with hysteretic characteristics approximated by Wen's mathematical model, are obtained by using the Fokker-Planck equation method with a cumulant truncation technique. Furthermore, first passage probability, giving consideration to stochastic load combinations, is derived by the load coincidence method assuming a Poisson process for threshold crossings. The uncertainties of power spectral densities pertinent to loads as stochastic processes are also considered through the derivation of first passage probability. This paper, as a first report, describes the analysis of a single-degree-of-freedom system and demonstrates that resulting variances and covariances of the response agree well with a Monte Carlo simulation.
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  • Takenori MORIMITSU, Kenji SHIRAISHI
    1989 Volume 32 Issue 1 Pages 25-29
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    In this study, a novel, vibrating bristled vehicle for small pipes is proposed. Its drive mechanism with two rotating eccentric weights and bristles is simulated and analyzed. The moving mechanism is examined and clarified by motion simulations and experiments conducted using a vehicle with numerous bristles. The fabricated vehicle moves smoothly in a pipe with an internal diameter of 80 mm at a velocity of 0.18 m/sec.
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  • Weui Bong JEONG, Masaaki OKUMA, Akio NAGAMATSU
    1989 Volume 32 Issue 1 Pages 30-35
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    It is not always possible to obtain characteristic matrices from modal parameters obtained by experimental modal analyses, such as curve fitting. If the degrees of freedom of the mathematical model are different from those of the structure identified, which occurs in almost all cases, contradiction occurs between the modal parameters when transformed to physical parameters. This paper proposes certain constraints that modal parameters must satisfy in order to be transformed to mass, stiffness and damping matrices without contradiction. A nonlinear optimization technique is used to solve these contraints. A new multireference curve fitting method in the frequency domain is also proposed. The number of unknown parameter depend only on the number of degrees of freedom identified, regardless of the number of response points. This method is effective when there are a number of response points. some experimental models are examined to validate this method.
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  • Mituru KANAMORI, Yoshiyuki ISHIHARA
    1989 Volume 32 Issue 1 Pages 36-43
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    In this paper, the fundamental characteristics of the electromagnetic damper are investigated by the finite element method. The reaction of the magnetic field excited by the eddy current is considered in the formulation. Firstly, the eddy current in the conductor slab is calculated for a slab moving at a constant velocity perpendicular to the magnetic flux density, and the attenuation coefficients are evaluated in accordance with the calculated values of the eddy current. Secondly, the effects of the reaction of the magnetic field are analyzed by the finite element method and Runge-Kutta method in a couple problem involving the magnetic field and the vibration of the slab. Thirdly, the numerical results are verified through experimentation.
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  • Kohshi NISHIDA, Katsuo FUJITSUKA
    1989 Volume 32 Issue 1 Pages 44-50
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    This paper describes the application of the boundary element method (BEM) to the three-dimensional analysis of the distribution of sound pressure levels around two kinds of boxlike enclosure models with circular apertures through which sound is radiated. In these analyses, triangular boundary elements are used and it is assumed that the sound pressure and the normal component of the particle velocity on an element are constant. Several mesh models with different numbers of elements are used in order to examine the convergence of the numerical solution. The sound-pressure-level distributions calculated are compared with those measured in detail by way of a sound-visualization technique using three color light-emitting diodes. For both cases of pure tone and 1/3 octave band noise, the calculated results agree fairly well with the measured ones. These results show that the complicated sound fields around such enclosures can be estimated with a high level of accuracy using the BEM.
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  • Yoshihiro TAKITA, Kazuto SETO
    1989 Volume 32 Issue 1 Pages 51-59
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    This paper shows two kinds of walking methods applied to a quadrupedal robot which has mammal-shaped legs such as those of horses. One of the methods is static balanced walking which has a limitation o its walking speed because of the movement of the center of gravity. The other is a new method of walking, that is, semidynamical walking with two-legged support, as do horses, for example. For the realization of this kind of walking, it is necessary that each ankle of the robot's legs has a control mechanism on the roll angle, because they maintain the posture of the robot when walking. In this paper, the walking pattern is studied by analyzing the dynamic stability in walking, and developing walking control programs on a software servocontrol system which in turn controls the microprocessors by decentralized processing. The experiment for a quadrupedal walking robot shows that semidynamical walking is 4 times faster than the static balance method.
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  • Osamu SATO, Hiroshi SHIMOJIMA, Hideo ICHINOMIYA, Atsushi SAITO
    1989 Volume 32 Issue 1 Pages 60-66
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    Equations of motion of a closed-type manipulator are derived in consideration of the bending of links and characteristics of the driving source. The control method is divided into two steps. The first is the fastest method for moving the manipulator from the initial position to the desired position, and the second is the method for attenuating the residual vibration of the system. Dynamic characteristics of the system controlled by this method are analyzed theoretically and investigated experimentally.
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  • Yoshinobu SATO, Koichi INOUE, Ernest J.HENLEY
    1989 Volume 32 Issue 1 Pages 67-74
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    As robotics consists of overall engineering systems, it is necessary for the improvement of robot safety that a systematic plan be executed. The examination and designing of safety measures is an important stage of the safety plan. It is essential to establish a systematic methodology for planning and designing safety measures for the effective practice of this stage in individual systems. first, the hazard-restraint process is generalized as four hazard-restraint principles, based on the A-C model hazard-production theory. Next, the architectonics of the final defense line of the hazard-restraint process is established in terms of a dissociation of action linkage by a hazard-control system. Last, the architecture of the hazard-control systems is demonstrated by examples for systems involving a robot following its course, rescue robot, or surgery robot, and the applicability of safety confirmation sensors or controllers is defined clearly.
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  • Yoshihiro SAKAMOTO, Hiroaki FUNABASHI, Kiyoshi OGAWA
    1989 Volume 32 Issue 1 Pages 75-81
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    In designing planar mechanisms, individual moving links have to be arranged separately on parallel planes, which are called layers in the present paper, to avoid mutual interference during a cycle of motion, and, in addition, the mechanisms have to be constructed in the smallest space possible. In this paper about planar multilink mechanisms which are constructed with revolute pairs, a systematic synthesis of layer arrangement is discussed with consideration of the mutual interference of moving links. to determine the minimum number of layers required to construct crank mechanisms and profiles of links, relative loci of pairing points and positions of links in the mechanisms are analyzed. Moreover, conditions to avoid mutual interferences of moving links on the same layers are formulated, and a layer-arrangement system is obtained which determines the profiles and layer arrangements of links of planar multilink mechanisms.
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  • Hirohisa TANAKA
    1989 Volume 32 Issue 1 Pages 82-90
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    A continuously variable power transmission will provide a passenger comfortable cruising and powerful acceleration as an automotive propulsion system. A half-toroidal traction drive is one of the mechanical CVTs and has a low spin moment in the EHL contact area. In this paper, theoretical approaches to the prediction of speed and torque transmission efficiencies have been made. The speed ratio changing mechanism which swings the power roller by side slip force is also discussed. Theoretical results are compared to test results of a prototype of nominal input torque capacity of 120 Nm, rotational speed of 5000 rpm and speed ratio range of 0.4 to 2.5.
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  • Satoru KANEKO
    1989 Volume 32 Issue 1 Pages 91-99
    Published: March 15, 1989
    Released: February 18, 2008
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    The present study is a theoretical analysis to evaluate the static and dynamic characteristics of oil-filled porous journal bearings with anisotropic permeability. The analytical models are the porous bearings whose permeabilities are lower in one direction than in the other two directions. Considering anisotropic permeability, the Reynolds equation for the oil film is modified to include a so-called filter term and the effect of tangential velocity slip, and the pressure equation for the porous medium is obtained from Darcy's law and continuity equation. These equations are applied to the system and are numerically solved. By comparison of anisotropic types with the isotropic type in which permeability is equal to the higher one of the anisotropic types, it is found that anisotropic types have a higher load carrying capacity and a lower total side leakage flow. Furthermore, anisotropic ones have larger oil film coefficients, in which the cross-coupled term Kxy is larger in magnitude, and higher stability threshold speed (oneset speed of half-speed whirl).
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  • Gang LIN, Tojiro AOYAMA, Ichiro INASAKI
    1989 Volume 32 Issue 1 Pages 100-105
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    The whirl instability of the groove compensated journal air bearing, which had not been analyzed before due to the complicated bearing shaped, is analyzed in this study. The finite element method is used to obtain the numerical solution of the Reynolds equation and the computer simulation method is used to obtain the accurate motion of the shaft within the bearing. Concretely, the locus of the shaft center after a step displacement disturbance is determined through the simulation. Based on the simulated shaft loci, the effects of various design parameters on the stability of the bearings are discussed.
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  • Akira YOSHIDA, Komei FUJITA
    1989 Volume 32 Issue 1 Pages 106-112
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    Thermally refined steel rollers are fatigue tested under three sliding-rolling contact conditions while varying the specific sliding during the rotation of a test roller by using a newly produced variable specific sliding type contact roller testing machine. With this method, the surface durability under each condition is elucidated. The test results obtained here are compared with the results obtained by a conventional rolling contact fatigue test with constant specific sliding. The relationships between the characteristics, such as frictional torque under each variable specific-sliding condition, and the surface roughness and pitting distribution on the test roller are discussed. The surface durabilities under variable specific-sliding conditions are lower than those under a constant specific-sliding condition. The roller surface roughness tends to be lower at a position of higher absolute value of specific sliding, and the amount of pitting tends to be greater at a position of higher absolute value of frictional torque.
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  • Takesi YONEYAMA, Yotaro HATAMURA
    1989 Volume 32 Issue 1 Pages 113-117
    Published: March 15, 1989
    Released: February 18, 2008
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    Pressure, and frictional stress in both rolling and width directions have been measured in the cold rolling of aluminum strip and billet by a new stress sensor developed by the authors. Characteristics of the frictional stress distribution in cold rolling have been elucidated. Frictional stress in the rolling direction is almost constant from the entrance to the neutral point in the contacting arc, both in strip and billet rolling. by contrast, frictional stress in the width direction increases from the center line to the edge part and its peak lies in the central part of the contacting arc in strip rolling. However, in billet rolling, it has two peaks along the contacting arc and its value does not vary from the center line to the edge part. This may be connected with the metal flow in the width direction in billet rolling.
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  • Makoto MURATA, Yasuto YOKOUCHI, Kazuhiro ONODERA, Hideo SUZUKI
    1989 Volume 32 Issue 1 Pages 118-123
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    The authors have developed a new machine for tube bulging which initially puts a deflated rubber membrane into a work tube and drives the internal pressure through a membrane after the initial settingup. Using this new machine, the effects of the tube end condition and tube length on the deformed shaped and the strain distribution are examined experimentally. Three cases of the tube end conditions, (A) axially fixed, (B) axially free and (C) axially compressed by force, are parametrically investigated. The results are as follows: (1) comparing at the same bulge height, the internal pressure is lower with the longer tube and also lower with the end condition changing from case A to C, (2) when the tube is short and/or the axial compressive force is small, the deformed shape appears as a barrel, and when the tube is long and/or the axial force is large, it has a cylindrical region uniformly expanded at its center, and (3) the axial compressive force tends to prevent thickness reduction of the tube.
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  • Hidehiro YOSHINO, Akira ISHIBASHI
    1989 Volume 32 Issue 1 Pages 124-130
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    The theory for calculating the profile of a tool to be used for finishing gears with an arbitrarily given tooth-profile, which was shown in the previous report of this investigation, is expanded and new equations are derived to calculate the profile of a grinding wheel to be used for finishing a gear hob. In order to demonstrate the usefulness of the equations, profiles of a grinding wheel for finishing a hob to cut Novikov gears with concave teeth are calculated numerically. It is clearly shown that the profile of the gear cut by this hob is almost the same as the given tooth profile in the design state. The errors of tooth profiles of the gear cut by the reground hob are numerically calculated through the changes in the profiles of the basic rack expressed by the reground hob.
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  • Hua CHIU, Yoji UMEZAKI, Yasutsune ARIURA
    1989 Volume 32 Issue 1 Pages 131-135
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    Recent studies have shown that the tooth profile errors of hobbed gears were mainly caused by geometrical error and eccentricity of the hob under good cutting conditions. Because manufacturing a highly accurate hob is very difficult and a highly accurate gear may not be obtained, even though a highly accurate hob is used, it is very important to investigate how to improve the actual meshing accuracy of the hob in the cutting process. In general, the meshing error of the edges caused by the hob eccentricity is nearly sinusoidal and the geometrical errors often contain sinusoidal components. On the basis of these facts, this report proposes a method which makes both of the sinusoidal error components cancel each other out in order to obtain an accurately hobbed gear. The test results clearly show the method's effectiveness in improving the tooth profile accuracy of gears.
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  • Koichi MIYASHITA, Ryoichi ICHIMIYA
    1989 Volume 32 Issue 1 Pages 136-141
    Published: March 15, 1989
    Released: February 18, 2008
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    A new accurate measurement of displacement by means of sound frequency variation in a resonant pipe has been investigated. This paper deals with the theoretical analysis of the sound frequency variation generated in the pipe. The acoustic input impedance and the acoustic radiation impedance between the pipe and a substance vary with the displacement of the substance which is placed at the other end of the pipe. Those two impedances are introduced as part of the new concept and the sound frequency variation is calculated with these impedances. The results of sample calculations and experiments coincide significantly.
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  • Hiroshi OTA, Eiji KONDO, Toshikatsu YAMADA
    1989 Volume 32 Issue 1 Pages 142-149
    Published: March 15, 1989
    Released: February 18, 2008
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    The outside of a dislike workpiece is turned and orthogonally cut with a cutting-off tool fed by the cross spindle of a lathe, and the workpiece is assumed to have a linear vibratory system with two degrees of freedom. Numerical calculations of the equations of motion for regenerative chatter, as well as cutting tests, are carried out. As a result, the regenerative chatter is shown to be initially caused by a small disturbance and classifiable into disappearance, constant amplitude and growing amplitude by different widths of cut. Further, the behavior of chatter is compared with the stability criterion that is given by a set of harmonic solutions of the equations for regenerative chatter, and it is verified that whether the chatter disappears or grows in its amplitude is determined by the stability criterion.
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  • Takayoshi TAMURA
    1989 Volume 32 Issue 1 Pages 150-157
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    This paper presents an approximation procedure used to solve a production planning problem for a multistage production system which produces many different components and assembles them into finished products under capacity limitations. A generalized production planning model is built using mixed -integer programming. The solution procedure is approximated by a linear programming method based on the Dantzig-Wolfe decomposition principle. Two different algorithms are developed in detail for a two-stage production problem. Several numerical examples are solved to examine the validity and efficiency of the proposed algorithms.
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  • Susumu SAKANO
    1989 Volume 32 Issue 1 Pages 158-163
    Published: March 15, 1989
    Released: February 18, 2008
    JOURNALS FREE ACCESS
    A structure analysis of strongly connected regions is very difficult and cannot be easily accomplished with conventional methods such as ISM. This paper describes an effective structure analysis for a strongly connected structure system. System layer order analysis determines how to change strongly connected structures into ordered ones. a new method for solving the problem of structure layer order is described. it is based on the concept of using an elementary cycle of the flow graph and of replacing adjoining rows in the adjacent matrix. Using the evaluation criterion and matrix replacement, the problem of structure layer order can be solved easily. The effectiveness and the practicality of this method are demonstrated by applying it to the LSI transportation system.
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