The proceedings of the JSME annual meeting
Online ISSN : 2433-1325
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VI.01.1
Displaying 151-159 of 159 articles from this issue
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  • F-1335 A Micro Pump Using Peristaltic Motion with Bimorph-type PZT Elements Allay : Characteristics of a Single-side Driven-type Peristaltic Micro Pump
    Yutaka KONDOH, Xiang DING, Shinichi YOKOTA
    Article type: Article
    Session ID: F-1335
    Published: August 22, 2001
    Released on J-STAGE: August 01, 2017
    DOIhttps://doi.org/10.1299/jsmemecjo.VI.01.1.0_293
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    In this study, a novel peristaltic micro pump using bimorph type PZT elements is proposed. The pumping of liquid is realized by peristaltic motion of metal film with controlling driving voltage of 5 bimorph-type PZT elements that are laid on the metal film. In this paper, the peristaltic micro pump (20mm×20mm×2mm) is fabricated to verify the pumping principle and to examine the characteristics. The maximum output flow rate of 220mm^3/min is obtained and the maximum load pressure of 2.3kPa is obtained.
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  • F-1336 A Micromotor Using Electro-Conjugate Fluids (ECFs) : Evaluation of Characteristics of a Double-layered Micro ECF Motor
    Shinichi YOKOTA, Masakazu HIRATA, Yutaka KONDOH, Kazuya EDAMURA, Satos ...
    Article type: Article
    Session ID: F-1336
    Published: August 22, 2001
    Released on J-STAGE: August 01, 2017
    DOIhttps://doi.org/10.1299/jsmemecjo.VI.01.1.0_295
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    Recently, Y. Otsubo et al. reported that a kind of dielectric fluid such as dibutyl decanedioate produced jet-flow by applying high voltage electrostatic field. The fluids are called Electro-conjugate Fluid (ECF). We proposed novel micromotors by making use of ECF. In this paper, firstly, a micromotor whose disk plate-type rotors are layered in multiple is proposed. Secondly, characteristics of the fabricated multi-layered motor are experimentally examined by comparison between a single-layered-rotor and a double-layered rotor. It is confirmed that the double-layered rotor produces twice as high torque and power as the single-layered rotor. Finally the I.D.φ9mm double-layered micromotor is fabricated. Characteristics of the fabricated motor are examined.
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  • F-1337 Basic Characteristics of the Small Spherical AC Servo Motor
    Tomoaki YANO, Takeo SUZUKI
    Article type: Article
    Session ID: F-1337
    Published: August 22, 2001
    Released on J-STAGE: August 01, 2017
    DOIhttps://doi.org/10.1299/jsmemecjo.VI.01.1.0_297
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    A small spherical AC Servo motor with two degrees of freedom is developed. The motor is composed of two sub AC Servo motors. The shape of each sub motor is semi-circle. The rotational axes of two sub motors cross at the same point, and this structure enables the developed motor to move in any direction. The experimental results show that the developed motor can hold the output shaft in any direction and has high positioning accuracy. The size of the motor is 75x74x61 [mm], which volume is less than 1/10 of the late developed spherical motor. This motor will be applied to the robotics eve with small CCD camera.
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  • F-1338 Simulation Dynamic Characteristic of Water Hydraulic System by OHC-Sim
    Yoshihiro Yata, Takeshi Nakada, Yasuo Sakurai, Kazuhiro Tanaka
    Article type: Article
    Session ID: F-1338
    Published: August 22, 2001
    Released on J-STAGE: August 01, 2017
    DOIhttps://doi.org/10.1299/jsmemecjo.VI.01.1.0_299
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    The development of the water hydraulic drive system is expected to solve the environmental problem. This paper deals with the dynamic characteristics of the water hydraulic drive system using tap water as a operating liquid, whose research and development is required from the view point of the environmental assessment and resources saving. The system using in the experiment is similar to a typical oil-hydraulic circuit consisting of a vortex pump, a relief valve, an electro-magnetic type on-off valve and a single rod cylinder. The step responses of pressure, piston displacement and load force in the operation condition of a low pressure as a tap water are obtained. And the dynamic characteristic was analyzed by a simulation program "OHC-Sim"
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  • F-1339 Research of Grinding Robot without Force Sensing
    Mamoru MINAMI, Toshiyuki ASAKURA, Masato FUKUDA, Takeshi IKEDA
    Article type: Article
    Session ID: F-1339
    Published: August 22, 2001
    Released on J-STAGE: August 01, 2017
    DOIhttps://doi.org/10.1299/jsmemecjo.VI.01.1.0_301
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    In the present paper, the dynamic motion of a robot whose hand is in contact with an object is discussed. In the derivation of the dynamic model of a constrained manipulator, the expression of a contact force is demonstrated as an algebraic function of the states, the input generalized forces and friction force using an equation of constraints. Next, a position/force controller which makes minimize input torques to generate the constrained force is constructed without the application of force sensors. Simulations and real experiments were performed in order to verify the feasibility of the controller using an articulated planar manipulator as an example. The results indicate that the constrained force and hand trajectory can be controlled to the desired value with small deviations.
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  • F-1340 Evaluation on cooperative effect of vision and tact using a distributed pressure display
    Hiroshi KOGA, Masahiro Ohka, Tokuhiro SUGIURA, Yasunaga MITSUYA
    Article type: Article
    Session ID: F-1340
    Published: August 22, 2001
    Released on J-STAGE: August 01, 2017
    DOIhttps://doi.org/10.1299/jsmemecjo.VI.01.1.0_303
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    Since all most soft wares are using GUI (Graphical User Interface), users have to follow a mouse pointer on a computer screen by their eyes to push bottoms. This work becomes a burden for not only elder peoples but also average peoples. If the users can feel convex portion of a bottom presented on the computer screen, they can push the bottom precisely. The authors expect tactile information assists the manipulation of the mouse pointer. In the present paper, the authors developed a tactile display for enhancing precision of pointing position of the mouse. The tactile display has 4-time-6 of stimulus pins using piezoelectric bimorph actuators. First of all, three kinds of tactile displays of which distances of two adjacent stimulus pins were 1.2, 1.9 and 2.4 mm (they were called low, medium and high density displays, respectively) were tested to obtain an optimal distance between two adjacent stimulus pins. Since it is found that percentage of correct answer for judgment of simple virtual shapes such as a circle, a triangle and a square is the highest in the case of using the medium density display, fusion tests were performed using the medium density display. In the fusion tests, the human subjects traced edges of the virtual shapes by using only their eyes and by using both of their eyes and tact. The human subjects found easily straight edges included in the virtual shapes by assistance of tactile sensation because average deviation from the desired edges using fusion of vision and tact decreases comparing with the average deviation using only vision. But the difference between using only eyes and using both of eyes and tact are very small because for the present human subject this tracing was easy work. Therefore, more sophisticated experiments should be conducted using elder subject or not average subjects who are not familiar with mouse manipulation.
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  • F-1341 A Compliance Control Method of 2-link Pneumatic Manipulator by Adjustment of Joint Rigidity
    Hirotaka KAWABATA, Tomohide NANIWA, Tosiyuki ASAKURA
    Article type: Article
    Session ID: F-1341
    Published: August 22, 2001
    Released on J-STAGE: August 01, 2017
    DOIhttps://doi.org/10.1299/jsmemecjo.VI.01.1.0_305
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    The case in which robot carries out contact tasks, it is necessary to give the softness at the end point of robot according to the difference between solid of the object and tasks. As a control method that can adjust the softness for external force of end point, the compliance control is proposed. In this paper, by changing the air pressure of cylinder room in right and left, the pneumatic cylinder in which to adjust the compliance of the cylinder is possible apply to an actuator. Using the pneumatic actuator, and by the change of the joint compliance, possibility of adjusting the compliance characteristics of the end point of the 2-link pneumatic manipulator was examined.
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  • F-1342 Development of Tactile Sensor by Using Discrete CT Algorithm
    Ning ZHU, Masahiro OHKA, Tomohisa SHIMADA
    Article type: Article
    Session ID: F-1342
    Published: August 22, 2001
    Released on J-STAGE: August 01, 2017
    DOIhttps://doi.org/10.1299/jsmemecjo.VI.01.1.0_307
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    This paper aims to apply CT (Computerized Tomography ) to the development of tactile sensor for robotics. The new tactile sensor consists of arrays of infrared emitting diodes, arrays of receiving phototransistors, a transparent plate of silicon rubber and black silicon rubber featuring with an array of conical feelers. The changed intensities are served as projection data for CT reconstruction. Since only a few numbers of projection data are available due to the configuration of the tactile sensor, ART (Algebraic reconstruction Technique) was employed to fulfill CT reconstruction. Computer simulation was performed to verify the ART algorithm and an experimental system was established on the basis of the computer simulation results. It was found that the pressure distribution could be reconstructed while the reconstruction accuracy remains to be improved.
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  • [title in Japanese]
    Article type: Appendix
    Pages App3-
    Published: August 22, 2001
    Released on J-STAGE: August 01, 2017
    DOIhttps://doi.org/10.1299/jsmemecjo.VI.01.1.0_App3
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