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岡村 秀勇, 鈴木 幸夫, 曽我部 潔, 鈴木 幸雄, 佐藤 美洋
1990 年 56 巻 529 号 p.
2319-2326
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
To simplify and also to improve the modeling method and calculation process described in earlier reports, (1) each of the counter-weights was idealized by an equivalent spring model, (2) the flywheel was idealized by FEM model, and (3) the oil-film of crank-journal bearings was idealized by a set of multi-points spring-support system, respectively. By the modification (1), both the number of joints in the modeling and the size of system dynamic stiffness matrix could be reduced significantly, and by (2) and (3), a significant improvement could be obtained for the calculations of the natural frequencies and their corresponding mode shapes as compared to the previous reports. Especially, by the FEM model of the flywheel in addition to the vibration behaviour of the flywheel, the coupling behaviour between the crankshaft and flywheel vibrations can also be estimated distinctly.
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谷藤 克也, 永井 健一, 長屋 幸助
1990 年 56 巻 529 号 p.
2327-2334
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
The running vibration of a bogie car is considerably affected by its operation speed. This paper describes the results of a calculation analysis on the vertical vibration of a Shinkansen electric car at the speed range up to 510 km/h, assuming a drastic speed-up of the Shinkansen. The vibration of each natural modes, except the body-bending mode, tends to increase uniformly with the operation speed. The vibration of the first body-bending mode varies greatly due to the averaging effects of the track roughness through the length between truck centers in the car, and it deteriorates the riding comfort further in the speed ranges near 270 km/h and higher than 450 km/h. As an example, the flexural rigidity of the car body is examined to determine countermeasures suitable for 270 km/h operation.
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片山 忠一, 杉山 吉彦, 米澤 政明, 安原 義文
1990 年 56 巻 529 号 p.
2335-2341
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
The aim of this paper is to give a thorough verification of the effect of damping on parametric resonances of visco-elastic systems under a pulsating generalized Reut force. Stability conditions in a finite time were applied to the dynamic responses of the simulated systems to establish the regions of parametric instability. It is shown that a slight internal damping is effective to establish the regions of instability through digital simulation. The present numerical experiments have confirmed that the stable systems when the damping is neglected may lose their stability when the damping is taken into account. Thus the paper has contributed in adding a verification of destabilizing effect of damping on the parametric combination resonances of sum and difference type.
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千葉 正克
1990 年 56 巻 529 号 p.
2342-2347
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
Experimental studies have been carried out on the nonlinear hydroelastic vibration of a cylindrical tank with an elastic bottom. Water having a free surface, was used to partially fill a rigid cylindrical tank. The coupled nonlinear vibration characteristics of the water contained and the bottom plate were investigated. The influence of a flexible bottom on the linear natural frequency of a sloshing-type response, in which liquid motion is predominant, as well as the influence of the water contained on that of a bulging-type response, in which the bottom plate motion is predominant, were also clarified by varying the height of the contained water. Polyester film 0.25 mm and 0.35 mm thick was used as the bottom plate.
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曽根 彰, 鈴木 浩平, 中村 元
1990 年 56 巻 529 号 p.
2348-2354
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
In this paper, identification techniques based on the experimental modal analysis for the equivalent modal parameters of nonlinear structures are examined from a practical viewpoint. First, using a simple cantilever model with gap or friction at the supported end, the gain characteristics of transfer function are evaluated through the sinusoidal sweep test and random wave test. Second, the equivalent modal parameters such as natural frequency and damping ratio are estimated by two types of identification techniques : ARMA (autoregressive/moving average) model fitting and curve fitting with iterative calculations. From the comparison of the response of the model obtained by the random excitation test and numerical calculation using the equivalent modal parameters, it has been clarified that the ARMA model fitting can be applied to linearized modal parameter identification for nonlinear structures.
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曽根 彰, 鈴木 浩平
1990 年 56 巻 529 号 p.
2355-2360
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
This study deals with the simplified numerical analysis method taking account of nonlinear response, particularly, gap and friction effects in piping-support systems in industrial plants such as petrochemical plants. Using simplified two-degree-of-freedom systems, one having only friction effect and the other having both gap and friction effects, the characteristics of response reduction due to these nonlinearities can be evaluated in terms of "response reduction factor". From the study, it can be shown that the nonlinearities caused by gap and friction have a dominant reduction effect particularly on the maximum displacement response. Finally, a convenient diagram of the response reduction factor is proposed for practical seismic design of a piping-support system.
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井上 克己, 加藤 正名, 大貫 憲一
1990 年 56 巻 529 号 p.
2361-2366
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
An optimization method is proposed to reduce the vibration of structures, where the total vibration energy is adopted as the objective function to be minimized. The theory of modal analysis is introduced in the optimization, and the sensitivity of the vibration energy with respect to the change of design variable is represented as a function of the sensitivities of both natural frequencies and natural modes. The proposed method is applied to the optimum design problem of a rectangular plate with clamped edges, which is loaded by a central exciting force. The finite element method is used for the computation, and the thickness of elements is adopted as the design variable. The solution of the problem demonstrates not only the excellence of the method for the reduction of vibration but also the ability to control the shift of resonance frequency.
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森下 信, 三井 純一
1990 年 56 巻 529 号 p.
2367-2372
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
Electro-Rheological fluid (ERF) has notable characteristics of viscosity which could be applicable for various industrial machines. Viscosity of ERF increases in accordance with the applied electric field. Without an electric field, ERF has the viscosity characteristics of a Newtonian liquid. Variation of viscosity is reversible, and the required time for variation is said to be as short as 0.001 sec. Numerous applications of ERF in the engineering field have been attempted since the characteristics of ERF were discovered by W. M. Winslow. However, no successful application has ever been reported. This paper deals with the successful application of ERF to a squeeze film damper. It is elucidated that the squeeze film damper with ERF is quite effective for the reduction of vibration for any rotor system. First and second critical speeds can be easily passed without large vibration amplitude. It is also shown experimentally that there may be the most effective damping ratios for every mode of the rotor. Transition phenomena of the modes in accordance with supported damping are clarified in the present experiment.
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松宮 [ヒカル], 河村 俊次, 田中 廣
1990 年 56 巻 529 号 p.
2373-2377
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
This paper describes the design and dynamic behaviour analysis of the mechanical governor system applied to the WINDMEL, a variable-speed wind turbine generator with a 15-meter rotor. The centrifugal forces of the governor weights and the spring forces will automatically regulate the blade pitch angle, performing the rotor speed control and the generator power control without the need for any other auxiliary power source for pitch control. Analytical results and observed data proved that the mechanical governor system works effectively in an actual wind turbine generator which continuously suffers from varying wind.
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蓬原 弘一, 杉本 旭
1990 年 56 巻 529 号 p.
2378-2385
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
On the basis of probability, in which accidents are recognized as unavoidable fatal happenings, 'safety' cannot logically be discussed and developed. In this report, logical safety is approached. As safety goes with information indicating the 'safety', the condition for constructing any reasonable safety operation system is that the information (safety information) must be transmitted 'unate'. This means that the extraction of safety information demands introduction of the threshold logic into operational space. In this report, the safety condition is logically defined, and the definition of 'safety control system' is presented on the basis of the condition securing the safe operation. In the defined safety control system, interlocking, as a fundamental element, is logically developed under an energy transmitting model of interlocking. The model defines the condition of the output signal in the interlocking. The interlocking indicates the truth that a practical safety system composes a phased structure, consist of a system in which safety information is transmitted 'unate', and a system in which the safety information is not necessarily transmitted.
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岩壺 卓三, 小西 暢樹, 山口 哲男
1990 年 56 巻 529 号 p.
2386-2392
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
This paper deals with the optimum design of a golf club by tuning the shaft stiffness. First, an equation of motion is derived by the finite element method considering kinematic motion and vibration of the club. Then real swing data, that is, angular velocity and acceleration of a golf swing, are measured using a high-speed video camera and digital image processing. Applying these data to the above equation, the following results are obtained. It is found that in the process of optimizing, the design of the club head and shaft can be separated. Optimum flexibility is generally determined in proportion to the level of ability: optimum club shafts for beginners should be more flexible than those of more advanced players.
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福田 敏男, 長谷川 修
1990 年 56 巻 529 号 p.
2393-2401
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
So far, the pattern matching method has mainly been adopted for visual recognition, applicable only to objects which can be put into patterns. Objects which have an individually variable size are difficult to process with satisfactory renults. For example, superconductive products ate difficult to put into patterns because of their expansion, shrinking and cracking in the baking process. This is one of the reasons why a developing process for these kinds of objects still cannot be automated. To solve this problem, especially for automatic manipulation of these kinds of products, this paper proposes an image processing expert system including the six-surface images integrating method. Avoiding individual differences, the expert system reasons and recognizes the bends, twists and cracks of an object, while integrating the image information of its six surfaces. As experimental samples, we used small brick-shaped objects. The effectiveness of the expert system proposed in this paper was confirmed by the results of experiments. The results of these experiments will be shown in this paper.
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福田 敏男, 細貝 英実, 清野 伸太郎
1990 年 56 巻 529 号 p.
2402-2409
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
This paper deals with a recognition method of plant devices and equipment using the visual method for the plant maintenance robot. For this purpose, the fiber grating # (FG) method is employed in this paper to identify and recognize three-dimensional plant objects, such as pipelines, flanges and others, which generally have curved surfaces. The FG itself is made of optical fibers through which the laser beams make discrete dot patterns without any mechanical scanning structures, unlike other scanning methods. Thus the proposed method has the following advantages : (1) # it is possible to obtain 3D image information by means of a single camera ; (2) the processing time is generally shorter than that of other methods. Although the proposed method does not give a fine analysis method of image data like common scene analysis, it is suitable to obtain rough information on the working environment of robots. This paper introduces a rule-based expert system capable of recognize plant equipments from the processed image data. The rules are made on the basis of the typical data of each device, irrespective of their sizes. Some experimental results are also shown here to verify the proposed method.
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石原 学, 白滝 順, 家入 勝吾, 志方 泰
1990 年 56 巻 529 号 p.
2410-2413
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
The intelligibility of intermittently eliminated Japanese speech wave is discussed in this paper. In our experiment, a segment of a Japanese speech wave is intermittently removed by varying the erasing duration and the period. Here, ratios of the erasing duration to period are varied from 10 : 90 to 90 : 10 every 10 percent. Listening tests for evaluating the intermittently eliminated speech wave have been carried out by about 600 males aged from 21 to 25 years. Experimental results show that the intelligibility of the composite tones deteriorates linearly. In the case of the period being short, however, the intelligibility of speech wave is more than 90 % even though ninety percent of the speech wave in one period is removed.
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富沢 正雄, 菊山 洋一, 森下 宏昭, 荒槇 淳
1990 年 56 巻 529 号 p.
2414-2420
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
A new wire feeding system controlled its tension fluctuation is developed to suppress the vibration of wire electrode in working gap which decreases the accuracy of finishing. The difference of velocity between brake and driving roller with velocity control is measured, and fed to the DC servo motor at the brake to suppress the tension fluctuation of wire feeding system. The dynamical characteristics are analysed as multi-degrees of freedom system and the controller is designed by considering the loop bandwidth and mechanical resonances of the actuator to suppress the tension fluctuation of higher modes. Experiments by using the wire of various diameter are carried out about the wide range of wire feeding speeds, and it is demonstrated that the tension fluctuation can be effectively suppressed by the proposed control method.
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川島 豪
1990 年 56 巻 529 号 p.
2421-2426
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
A quasi-optimal control system of a flexible rotating cylindrical arm in water is developed focusing on a linearization of the nonlinear fluid drag force. By computer simulations, it is clear that when the compensation coefficient of fluid drag force is large, the arm approaches rapidly near the target but does not converge to the target. As a result, it is better to use the small compensation coefficient obtained by approximating a fluid drag force coefficient of the cylinder derived with Oseen's approximation. Further, to improve the slow approach of the small compensation coefficient, an adaptive control system is developed. In this system, feedback gains of several arm speeds calculated with the optimal control theory are stored in the controller, and the arm is controlled using the optimal feedback gain selected according to the arm speed. Then, model experiments were carried out and the performance of the developed control systems was confirmed.
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宮城 雅夫, 宮城 隼夫
1990 年 56 巻 529 号 p.
2427-2431
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
This paper investigates the stability of a Lienard-type nonlinear system, utilizing the direct method of Lyapunov. The Lienard-type nonlinear system is given in a form of n second-order ordinary differential equations, which is a generalization of Lienard's equation. Noticing that the stability depends on the system structure, some stability criteria ate presented. Various Lyapunov functions are introduced in proving the theorems. Stability boundaries of the system are calculated by using such Lyapunov functions. To illustrate the proposed method, the results obtained are applied to an example system.
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正司 康雅, 稲葉 忠, 福田 敏男, 細貝 英実
1990 年 56 巻 529 号 p.
2432-2440
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
In this paper, a methodology using the Lyapunov direct method is proposed to analyze the stability of a 2-single-DOF-manipulators system which is used to grasp an object freely moving along a straight line. This analysis involves the collision phenomenon at the time of the contact. The stability and response of the system are examined by parameter studies of numerical simulation. In our 1st report, we adopted a Herz-type model with energy loss parameter to express the impact force between the manipulator and the object. Using this model, we proved the stabilization effect of collision using a nonlinear Lyapunov's function. The effect is confirmed by the simulation. As a result, stable grasping of a free object is shown to be possible.
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前川 明寛, 川村 武也, 田中 幸雄, 石井 伸也
1990 年 56 巻 529 号 p.
2441-2445
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
An active damping control method has been applied to achieve quick positioning for a 2-link flaxible manipulator. The 2-link flexible manipulator is regarded as a distributed parameter model in consideration of mutual interaction between links. On this model the LQG(linear quadratic Gaussian) method, composed of a Kalman filter and an optimal regulator, has been applied to an active damping controller. In tuning the LQG controller, the robustness against the spillover has been evaluated in the frequency domain to confirm the stability of the closed loop system. Using the testing model, the following results were obtained : (1) The 1st mode of the vibration was completely damped. (2) The positioning time was reduced by 1/5 compared to that of the conventional control method, which feedbacks position and velocity signal of each joint.
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荒川 淳, 福田 敏男
1990 年 56 巻 529 号 p.
2446-2453
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
This paper deals with the modeling and control method of a flexible robotic arm with three degrees of freedom. Under the assumption that the links vibrate both transversely and torsionally, the dynamics of the three-degrees-of-freedom flexible robotic arm are derived. To estimate the state, an observer with full rank is employed. Then the control algorithm is designed by using an optimal control theory based on the quadratic performance index approach. This control method is shown to suppress the coupled vibrations. Sensitivity analysis is made for the case that the payload's weight, the link's length, and damping coefficients of the flexible robotic arms are inaccurate. When the system has parameter errors, the stability of the closed-loop system with the optimal feedback gain is not necessarily assured. A method to find the stable domain of these parameters is presented and some simulation results are demonstrated.
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平林 友一, 山藤 和男
1990 年 56 巻 529 号 p.
2454-2459
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
We have developed a variable-structure-type locomotive robot which may be given one of three structural variations for locomotion according to the working environment or application of the robot. In the previous paper, we described the concept of the variable-structure-type locomotion robot, the controlling methods and the experimental results on the first variation. In this paper, the leg-leg type, which is a kind of quadruped working robot, is reported. Two forms of walking are proposed. One is the "rub" gait, in which each pair of legs is always in contact with the ground and walks by rubbing or slipping by moving the fore- and hindlegs alternately. Such a locomotive style is advantageous in maintaining stability of the body. The other is the "bound" gait, in which two pairs of the legs kick back against the ground simultaneously in order to, propel the robot. It is confirmed experimentally that both walking forms are useful for the leg-leg type and high-speed translation can be accomplished by the "bound" gait. The control method of the width of a step proposed here in the "bound" gait proved effective in providing the robot with constant width-step walking independently of the condition and slope of the ground.
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佐野 明人, 古荘 純次, 後藤 照博
1990 年 56 巻 529 号 p.
2460-2467
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
When a quadruped locomotion robot is used as a vehicle, it is desirable to keep the body speed and body height constant. The control methods of the body speed can be classified into two main groups : 1) local feedback control using information of each joint, and 2) control using information such as velocity and acceleration of the body. Information used in the latter control method give the relationship between the robot and the external environment. We aim to achieve dynamic walking with constant body speed and height by the control method using the velocity and acceleration of the body. By the proposed control method, the walking robot `COLT-1' with several sensors achieves dynamic walking in which the body speed is maintained at 0.2[m/s].
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福田 敏男, 細貝 英実, 佐藤 聡
1990 年 56 巻 529 号 p.
2468-2473
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
This paper deals with a new method of sensing force and moment for robotic applications using optical fibers. The six components of force and moment can be measured by microbending phenomena of optical fibers. If forces are applied on anoptical fiber, then microbending decreases the optical transfer efficiency rate so that the magnitude of the force can be given by measuring the output of a photodiode receiver. Based on this methodology, a new method of sensing force and moment using optical fibers is here proposed to measure both stressing and compressing of six components of force and moment with pretention structure. Also, to decrease interference among of six components of force, we propose a lower interference method using calibration matrix ; this method is shown to be effective through some experimental results.
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佐野 明人, 古荘 純次, 長沼 伸幸
1990 年 56 巻 529 号 p.
2474-2482
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
Trot walking has recently been studied by several groups because of its stability and realizability. In the trot, diagonally opposed legs form pairs. While one pair of legs provides support, the other pair of legs swings forward in preparation for the next step. In this paper, we propose a reduced order model for the trot walking. The reduced order model is derived by using two dominant modes of the closed loop system in which the local feedback at each joint is implemented. It is shown by numerical examples that the obtained reduced order model can well approximate the original higher order model.
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橋本 巨, 和田 稲苗, 竹谷 一哉
1990 年 56 巻 529 号 p.
2483-2489
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
The effects of turbulence and fluid film inertia on the stability of high-speed, elliptical journal bearings were theoretically investigated. Based on the linearized analysis, the dynamic fluid film coefficients such as spring, damping and acceleration coefficients, considering the combined effects of turbulence and fluid film inertia, were obtained for various values of ellipticity ratio. Moreover, by applying the Routh-Hurwitz stability criterion to the equation of motion for the rigid rotor supported by two identical aligned elliptical bearings, we estimated the whirl onset speeds. From the numerical results, the relationships between the stability and the ellipticity ratio of elliptical bearings in the turbulent inertial flow regime were discussed.
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橋本 巨, 和田 稲苗, 竹谷 一哉
1990 年 56 巻 529 号 p.
2490-2496
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
In this second paper, the relationship between the variation of pressure distribution and the stability of elliptical journal bearings in a turbulent inertial flow regime it examined theoretically based on the nonlinear analysis for three different values of ellipticity ratio of m=0, 0.5 and 1.0. The nonlinear equation of motion for the rigid shaft supported on the two identical aligned elliptical bearings was solved by the improved Euler's method and the relation between the pressure distribution and the transient motion of the journal center was presented in the graphic form. From the numerical results, the effects of ellipticity ratio, turbulence and fluid film inertia on the dynamic behavior of elliptical journal bearings are clarified, and the relationship between the variation of pressure distribution and the stability is discussed.
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水野 高爾, 白井 徳雄, 松井 正仁, 村松 勁
1990 年 56 巻 529 号 p.
2497-2502
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
Deviation of punch load center from punch center, lateral force exerted on the punch head and eccentricity between punch and die are measured through the process. In extruding a blank of slant end, punch is remarkably bent toward the low end side by the lateral force in the initial stage of extrusion. The punch tends to recover elastically in the subsequent stage, and the eccentricity between punch and die decreases as the process proceeds. The recovery is, however, retarded more or less by the resistance of the deforming metal around the punch. In extruding a blank of which lubricant film is removed from a half of the end surface, both the deviation of punch load center from the punch center and the lateral force induced by the non-axisymmetric flow bend the punch toward the dry end side. The eccentricity between punch and die increases with increase in the punch penetration.
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久保 愛三, 久保木 孝, 野中 鉄也
1990 年 56 巻 529 号 p.
2503-2509
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
The correlation between transmission error of gears and some factors which are usually considered to express characteristics of tooth contactt pattern, such as areal percentage and total length of simultaneous contact lines, is examined, but very poor correlation is found. A new method of estimating the transmission error from a tooth contact pattern is introduced. This is a method of supposing a triangular shape for composite error on actual contact line which results in the ridge figure of the composite error surface as a function of tooth contact pattern. The transmission error is derived as a function of this ridge figure. The results estimated by this method showed fairly good correlation with the actual transmission error, especially for low transmitting load. Based on this method, an index value for the magnitude of transmission error is also introduced.
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川名 武, 馬場 政一
1990 年 56 巻 529 号 p.
2510-2515
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
A directly linked processing and assembly system without buffer storage is very effective in simplifying inventory control and reducing lead time. But such a system is not adopted so often mainly because it is difficult to maintain a high production rate. To cope with this trend, we analyzed the relation between production rate and buffer storage by GPSS simulations, considering failure rate and repair rate. Consequently, we found the conditions necessary to attain the same production rate of a processing and assembly system linked with buffer storage. Then, based on this result, we developed an assembly equipment for cross-flow fans.
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井山 俊郎, 石川 廣志
1990 年 56 巻 529 号 p.
2516-2520
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
In this paper, we consider an approximate solution method for a production rate in a multistage automatic transfer line. In this line, each stage has an unequal operation cycle time, and the number of machines installed in each stage is different. The approximate method consists of two steps. In step 1, the above line is replaced with the equivalent series line with one machine and equal operation cycle time using an imaginary buffer capacity. In step 2, the production rate of the equivalent series line is estimated by Yamashita and Suzuki's method. From the comparison between the approximate solution and the solution obtained by the Markov model or simulation method, it is demonstrated that the error is very small when the buffer capacity is greater than 2, and the error in step 1 disappears as the buffer capacity increases. Next we numerically analyze the effect of the number of machines and the position of the stage with more than one machines on the production rate.
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土井 雅博, 室谷 康夫
1990 年 56 巻 529 号 p.
2521-2526
発行日: 1990/09/25
公開日: 2008/02/21
ジャーナル
フリー
With increasing demands on automatic and high-capability manufacturing, the dynamic performance of machine tools becomes more important for a cutting system. However, no proper standard has yet been established to estimate the dynamic performance. In this paper, the relationship between compliance of the cutting system and the commencing point of chatter vibration is checked with impulse excitation and cutting tests on some cutting systems. Then, a practical and reliable test method of the dynamic performance of the lathe is investigated. The results obtained from this study are as follows : (1) It was proven that there is a mutual relationship between the compliance characteristic of the cutting system and the commencing point of chatter vibration. (2) The relationship between the commencing point of chatter vibration and feed rate, in other words, exciting force, is clarified quantitatively under several cutting conditions. (3) The possibility of estimation for several lathes is confirmed on the dynamic performance with this method.
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