日本機械学会論文集 C編
Online ISSN : 1884-8354
Print ISSN : 0387-5024
70 巻, 691 号
選択された号の論文の39件中1~39を表示しています
  • Cesàroの総和法による対称基本周期解の導出
    今村 仁, 鈴木 浩平
    2004 年 70 巻 691 号 p. 609-616
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    A new calculation technique is proposed for getting symmetric fundamental periodic solution of the lumped mass discontinuous system to periodic excitation. This system is adopted as a typical piecewise linear oscillator having no stiffness. First, it is pointed out that the feedback superposition method which was formerly proposed can not be applied to this particular oscillator. Then, an improved calculation technique for getting the periodic pseudo-feedback response is newly proposed whereby converged infinite series and unconverged infinite series can be separated. According to this improvement, even unconverged series of the periodic pseudo-feedback response become to be evaluated by the Cesàro's (C. 2) summation to viscous damped system and those (C. 3) summation to undamped system, respectively.
  • 初期値補正拡張法による対称基本周期解の導出
    今村 仁, 鈴木 浩平
    2004 年 70 巻 691 号 p. 617-624
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    A new analytical method to find the exact solution to lumped mass discontinuous piecewise linear system having no spring stiffness is proposed. In this study, we apply the pseudo feedback superposition method in order to determine the exact functional form of the summation of the infinite number of pseudo-feedback responses appearing derivation process of the fundamental symmetric periodic solution. First, for this stiffness-free discontinuous piecewise linear system, we assume the solution facing towards the future. Under this assumption, we have to evaluate unfavorable two terms; “trend” term and “offset” term which lead to failure of periodicity and symmetricity among the solution. Second, we propose an alternative method to derive corrected terms based on the evaluation of only finite terms summation. Solution calculated through the approach can be indentical to that through Cesàro's summation approach reported in the previous paper.
  • 袖山 博, 鈴木 浩平, 岩田 範生, 砂子田 勝昭
    2004 年 70 巻 691 号 p. 625-632
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    Recently, Magneto-Rheological (MR) dampers attract a great deal of attentions from many researchers as the semi-active control devices. In the MR damper, a MR fluid is used. The properties of the MR fluid can be controlled in accordance with the magnetic field. Therefore, the force generated by the MR damper is adjustable by changing the magnetic field at the orifice of the damper. In this paper, the force-velocity relationship of the MR damper is analytically studied. Based on the fluid dynamics with the Bingham model and Herschel-Bulkley exact relationships between piston velocity and generated force are obtained. It is confimed that each analytical result can predict the behavior of the MR damper exactly.
  • 第2報, 中型振動台を用いた制御実験とその理論的解釈
    篠原 雄一郎, 清水 信行, 佐藤 栄児, 梶原 浩一, 高井 茂光
    2004 年 70 巻 691 号 p. 633-640
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    National Research Institute for Earth Science and Disaster Prevention (NIED) is constructing a three-dimensional large-scale shaking table. For developing useful methods of operation and control for the table, we have started the study of operation and control for a small-scale shaking table, and then continued the study for a medium-scale shaking table. A final goal of the study is to obtain a guideline of operation and control for the large-scale shaking table. In this paper, the authors treat the study of operation and control for the medium-scale shaking table. The characteristics of the medium-scale shaking table with a non-linear structure are experimentally identified with displacement feedback control (Conventional Control). Control experiments were performed with the Conventional and the Minimal Control Synthesis (MCS) procedures. The MCS procedure has been proved to be effective to enhance the performance of the control for the medium-scale shaking table with a non-linear structure.
  • 西山 禎昌, 高橋 正樹, 田川 泰敬, 安田 正志
    2004 年 70 巻 691 号 p. 641-646
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    Microvibration control technology has been rapidly becoming important in a number of fields including superfine technoloby in semiconductor manufacturing and bio-technology in gene analysis. In this paper, an active 6 DOF microvibration testing device using air actuators is studied from the view point of control system design. In the previous study, a combination of dual model matching controller and off-line feedforward gave good reference following performance. However, an interference problem to other axes has not been solved. In this study, in order to solve this problem, an adaptive digital filter called Filtered-X is applied to the control system. The effectiveness of the proposed control system is verified through reference following experiments, when a test model is equipped on the table.
  • 並進1自由度剛体モデルによる検討
    廣田 和生, 伊藤 智博, 中村 友道, 南部 清, 名倉 三郎
    2004 年 70 巻 691 号 p. 647-655
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    A neutron reflector, a newly designed core internal structure, is supposed to be adopted to the advanced pressurized water reactor (=APWR). This neutron reflector is composed of multi-stage ring type structures and is installed in a core barrel with very narrow passages at the 4 corner portion. Thus, it is considered that the coupling effect with a core barrel through liquid will become very predominant due to very large added mass and added damping effects. The authors have evaluated the added mass and added damping using a simplified neutron reflector model which is a rigid, one-degree of freedom model, and systematically investigated the effects of various parameters such as frequency, liquid temperature, and so on. This report summarizes those results as a knowledge data base.
  • 第2報, 重み付き逐次最小2乗法を適用した同定法と実験
    朴 泰〓, 金光 陽一, 雉本 信哉, 松田 浩一
    2004 年 70 巻 691 号 p. 656-663
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    In this paper, we have conducted identification experiments on the mass unbalance and high order sensor runout in a turbo molecular pump supported by active magnetic bearings (AMB), by using the proposed identification method. Firstly, output signals from the displacement sensors are converted and stored in the real time Linux. The mass unbalance and high-order sensor runout are identified using the weighted-incremental least square on-line method from the stored displacement data. Next, by attaching known plural weights on the rotor, the resulting unbalance and higher-order sensor runout were identified using the proposed method. Finally, the reproducibility of the identification experiment and the effectiveness and accuracy of the proposed identification method were verified by an already-known higher-order signal, which synchronizes with the rotor and corresponds to the sensor runout, is added to the rotor and estimate the added high order input signal.
  • 太田 博光, 瀬戸 邦聰
    2004 年 70 巻 691 号 p. 664-670
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    Acoustic diagnosis system with condenser microphone has some attractive characters what is more cheaper for cost of devices of sensor, is not keeping contact with machinery components and is wide band range on frequency compared with piezoelectric accelerometers. This paper proposes a method to do condition diagnosis about strong non stationary signal generated by operating rotating machineries which are rolling bearings. Especially, a signal processing technique in order to eliminate non stationary noises including operating sound is described by adopting locally stationary AR model a kind of system identification. Further, the optimum order of locally stationary AR model is determined from presumption of division terms. The effectiveness of this method has been identified by experiment based on a rotary simulator device on rolling bearings.
  • 付加ばねマス系を有する弾性パネルと一端で連成する音響管の場合
    清野 裕之, 山内 裕司, 安田 仁彦
    2004 年 70 巻 691 号 p. 671-678
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    In previous papers, to clarify the features of sound field of a structural acoustic-coupling system, a rectangular prism with one or two flexible panels is analyzed by the authors. From a practical point of view, a rectangular prism with flexible panels with some additional masses attached is also important. In this paper, a rectangular prism with a flexible panel attached with a spring-mass system is considered. First, experimental study is conducted. Two noteworthy features are found. One is that the mode that has non-vibrated flexible panel exists. The other is that the fixed state, whose existence is confirmed in the previous papers can be removed. Then, theoretical study is made using a one-dimensional mathematical model. It is found this model can explain the features mentioned above.
  • ガラスビーズを用いた基礎的実験と理論解析
    坂本 秀一, 高井 光太郎, 深井 雄史, 柳本 憲作, 渡部 誠二, 一宮 亮一
    2004 年 70 巻 691 号 p. 679-686
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    This paper deals with the development of a new method for measurement of the height for granular material in a cylinder. For monitoring of automated filling processes of cartridges in a series production a new measurement method was developed which allows to detect rapidly incorrect products and to improve the process capability by the use of this method. The aim of this research work is to measure the level of granular material in a cartridge without contacting the material. The material is the mixture of the solid particles and air. The material is assumed as the porous media from the viewpoint of acoustics. As that, the inside of the cartridge, which is filled with granular material, is the acoustic system including porous media. The measuring method used the relationship between amount of granular meterial in the cartridge and the characteristics of the transfer function of the acoustic system is developed. The acoustic characteristic of the granular material, which is used for the theoretical analysis was also measured.
  • 送り系のための制振フィルタの設計
    茨木 創一, 田中 拓也, 松原 厚, 垣野 義昭
    2004 年 70 巻 691 号 p. 687-692
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    This paper presents a tuning methodology of a fixed-structure feedback controller based on the frequency-domain loop shaping technique. Although the present methodology requires to solve a nonconvex optimization problem, it offers quite a practical way to tune a feedback controller such that the closed-loop system exhibits the desired control performance. As an application example, the tuning of a linear feedback controller is demonstrated for a feed drive system driven by a linear motor. In order to suppress the structural vibration of lower frequency, one must tune the controller by taking into explicit consideration its phase dynamics, as well as its gain dynamics. The loop-shaping design based on the proposed formulation is quite effective in practice in such a case.
  • 小野 貴彦, 猪岡 光
    2004 年 70 巻 691 号 p. 693-699
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    In emergency transportation, a patient receives the acceleration of the right-and-left direction when an ambulance turns a corner or changes a lane. Such acceleration causes the feeling of discomfort or carsickness. With the aim of realizing safe and kind transportation for patients, we prototyped the actively-controlled bed for an ambulance which reduces the patient's discomfort by rotating the bed around the body axis. The bed is actuated by a DC servo motor. The desired angle of the bed is calculated in real time from the right-and-left acceleration acting on a car, which is measured with the accelerometer located beside a driver. The purpose of this paper is to examine the effect of the rotating-type actively-controlled bed in terms of ride quality. In experiment, the subjects evaluate a degree of ride quality on a scale of five for every second. Compared to the normal fixed bed, the ride quality improves when the bed is actively controlled.
  • ファジィルールの前件部, 後件部を同時に最適化した場合
    神代 充, 柴田 論, 山本 智規, 清水 顯
    2004 年 70 巻 691 号 p. 700-705
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    A pneumatic servo-system has essentially non-linear elements such an compressibility of air, friction between cylinder and piston. The control scheme with fuzzy inference is effective for such non-linear plants. However, fuzzy rules in the fuzzy controller should be adjusted optimally to realize excellent control performance. On the other hand, the genetic algorithm can easily obtain the optimum solution in optimum problems. In this paper, we propose a fuzzy control for the vertical type pneumatic servo system in which the antecedent clause and consequent clause in the fuzzy controller are optimized by the genetic algorithm. In this method, it is possible to realize excellent control performance, because the antecedent clause and consequent clause in the fuzzy controller are optimized simultaneously. Further, the effectiveness of the optimized scheme was confirmed by experiments using the existent vertical type pneumatic servo-system.
  • 高橋 武彦, 佐藤 俊之
    2004 年 70 巻 691 号 p. 706-713
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    This paper gives a design method of discrete-time robust control systems that are subjected to reference inputs restricted in magnitude and rate of change. Based on the principle of matching, we derive a practical necessary and sufficient condition that ensures time-domain specifications in discrete-time. Additionally, we derive a practical robust matching condition based on the practical necessary and sufficient condition under the plant uncertainties in discrete-time. A simple design example of a speed control system of a DC servo motor is also given.
  • 第1報, 新しい同定方法の提案
    大日方 五郎, 黒沢 忠輝, 川合 忠雄
    2004 年 70 巻 691 号 p. 714-719
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    In this paper, we have proposed a new method for identifying specified parameters in linear systems. The method is based on Youla-parameterization, which is derived by pulling out the deviations of specified parameters to the references. The resultant parameterization takes a form of linear fractional transformation (LFT) and has an arbitrariness on the stable factors of parameterizing. We can utilize the arbitrariness to enhance the accuracy of estimating specified parameters because the stable factorizing in the parameterization means introducing a filter for suppressing the effect of observation noises. Two examples are given for illustrating the effectiveness and for showing the possibility of applying the method to fault diagnosis.
  • 実験的同定に基づくモデリングと自律制御実験
    羽沢 健作, 辛 振玉, 藤原 大悟, 五十嵐 一弘, Dilshan FERNANDO, 野波 健蔵
    2004 年 70 巻 691 号 p. 720-727
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    We developed a small autonomous hobby-class unmanned helicopter that weighs about 9 kg, focusing on attitude and velocity models and controller design. Singe Input Single Output (SISO) transfer function models are derived from brief kinematical analysis and system identification for each of the helicopter dynamics of pitch, roll, yaw, and three direction velocities. We designed six separate controllers based on derived models using LQG and LQI control theory. The models and control structure are verified by experimental results. Accurate position control, namely, hover control and trajectory-following control, is achieved by a simple control algorithm using a designed attitude and velocity control structure. Robustness of the controller against wind was confirmed in a windy-day experiment. To verify robustness against the perturbation of physical helicopter parameters, the controller is applied to a larger helicopter.
  • 磯部 大吾郎, 今泉 大作
    2004 年 70 巻 691 号 p. 728-735
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    In this paper, a parallel solution scheme for calculating inverse dynamics independent to member stiffness of link systems is described. The solution scheme is developed by using the Finite Element Method, which evaluates the entire system as a continuum by subdividing it into finite elements. It calculates nodal force by evaluating the equation of motion in a matrix form, and the information from the entire system can be handled in parallel. Therefore, the torque curves can be obtained seamlessly without changing the numerical algorithm, even in such cases where the dynamics of the link systems would gradually change. Moreover, the inverse dynamics of link systems with various stiffness values can be obtained similar to rigid link systems. In this paper, the kinematics of the link systems are calculated in order to obtain a target trajectory required for calculating the inverse dynamics, by considering stiffnesses of the finite elements. Both algorithms for calculating kinematics and inverse dynamics are combined into a single program. Some numerical tests carried out to simple link systems show the validity of the proposed scheme in applying as a unified scheme independent to member stiffness values.
  • 長山 和亮, 佐々木 実, 羽根 一博, 松本 健郎, 佐藤 正明
    2004 年 70 巻 691 号 p. 736-742
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    We have developed a low-cost atomic force microscope (AFM) system for the measurement of surface topography and local mechanical properties of cells. An AFM unit was combined with an inverted confocal laser scanning microscope (CLSM) to observe the AFM image and the CLSM image simultaneously. The unit consists of an optical lever unit for the measurement of cantilever deflection, a feedback control system for the cantilever height, a cantilever drive unit with a piezo actuator, and a XY stage with large scanning area (150μm×150μm), which was attained by magnifying the deformation of piezo actuators by applying the principle of leverage. By assembling necessary parts by ourselves, the total cost of the system was reduced to about a million yen. Surface topography of the cells was obtained as the conventional AFMs in a contact mode. Mechanical properties of the cells were measured from the relationship between the indentation force F, and the indentation depth d during an indentation test. The F-d curve was fitted with a quadratic equation, F=k (d+ (p/2) d2), where k and p are the indices of initial stiffness and non-linearity of the cell stiffness, respectively. We measured the mechanical properties of the bovine aortic endothelial cells with this system to find that the two indices increased similarly in the cells exposed to shear stress of 2 Pa for 24 h. The present system is useful for the studies of cellular mechanics.
  • 高橋 倫久, 多田 充徳, 上田 淳, 松本 吉央, 小笠原 司
    2004 年 70 巻 691 号 p. 743-750
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    This paper presents an 6-axis optical force sensor which can be used in fMRI. Recently, fMRI are widely used for studying human brain function. Simultaneous measurement of brain activity and peripheral information, such as grip force, enables more precise investigations in studies of motor function. However, conventional force sensors cannot be used in fMRI environment, since metal elements generate noise which severely contaminate the signals of fMRI. An optical 2-axis force sensor has been developed using photo sensors and optical fibers by Tada et al., that resolved these problems. The developed force sensor removed all magnetic components from the sensing part. It detected minute displacements by measure amount of light and light traveled through the optical fibers. However, there still remain several problems on this optical force sensor. Firstly, the accuracy is not high compared to the conventional force sensors. Secondly, the robustness is not enough against the contact force to the optical fibers. In this paper, the problems concerning to the acturacy and the sensor output stability has been improved by novel methods of fixing fibers and arithmetic circuit. An optical 6-axis force is developed based on these improvements, and usefulness of our sensor for brain function analysis is confirmed in fMRI experimentations.
  • 黄 健, 藤堂 勇雄
    2004 年 70 巻 691 号 p. 751-758
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    A flexible tool held by the end joint of a robot will be deformed when the robot is used to complete a contact task. Without establishing a deformation model of the flexible tool, the end position of the flexible tool can not be obtained from computing robot kinematics. In this paper, a position and force hybrid control method using the visual information has been proposed for a 6DOF robot to complete a contact task. To detect the end position of the flexible tool, two CCD cameras are used and a real time image processing algorithm is developed. An advantage of the proposed method is that establishing a deformation model of the flexible tool is not necessary. An online learning neural network is also applied to a position/force hybrid control system to decrease tracing error of position. Using the proposed method, a flexible tool held by a 6 DOF robot hand was used in experiments of tracing a given curve with a specified force. The experiments have been made successfully and the results demonstrate the effectiveness of the proposed method.
  • 平田 泰久, 小菅 一弘, 淺間 一, 嘉悦 早人, 川端 邦明
    2004 年 70 巻 691 号 p. 759-765
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    In this paper, we popose a decentralized control algorithm of multiple mobile robots which have been developed for manipulating a large or a long object in cooperation with a human. In this algorithm, each robot is controlled as if it has a caster-like dynamics around a representative point attached to the object and the manipulation of the large or the long object is realized easily in cooperation wit a human. The proposed control algorithm is experimentally applied to two omni directional mobile robots referred to as DR Helper and experimental results illustrate the validity of the proposed control algorithm.
  • 香月 理絵, 太田 順, 田村 雄介, 水田 貴久, 鬼頭 朋見, 新井 民夫, 植山 剛, 西山 強志
    2004 年 70 巻 691 号 p. 766-773
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    This paper presents a robot system for handling various objects in home or office environments. A fixed manipulator utilizes marks on objects. A mark consists of two parts. One is the outer part, which indicates its 3 D pose, and the other is a QR code, which is stored information of an object (e.g. its size). A QR code is a kind of 2D barcode. A user attaches several marks on objects. The manipulator accesses the information using a camera on its hand. The manipulator estimates pose of objects measuring marks and using least-squares method. Then, the robot can handle and convey the objects through planning a sequence of conveyance and a pose for grasp that is based on the pose of objects, candidates for grasp pose informed by the mark, and signals from proximity sensors. Experiments are conducted to verify the whole system.
  • 山口 博明, 新井 民夫
    2004 年 70 巻 691 号 p. 774-781
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    This paper presents a novel path planning methodology using Bezier curves for a cooperative transportation system with two car-like mobile robots. We first transform the kinematical equation of this transportation system into two-chain, single-generator chained form in a coordinate system where a path is a curved line axis and a straight line perpendicular to the tangent of the path is another axis. The carrier of the transportation system can follow any path as long as its curvature is two times differentiable. The orientation of the carrier is uniquely determined according to the orientation of the tangent of the path. We secondly set the path to be a Bezier curve and we arrange the controlling points of the Bezier curve based on the working environment of the transportation system, e. g., in order for it to avoid collisions wit obstacles. The validity of this path planning methodology is supported by computer simulations.
  • トルク入力の導出と時変ゲインによる最大トルクの低減
    服部 邦雄, 山浦 弘, 小野 京右
    2004 年 70 巻 691 号 p. 782-789
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    In this paper, we discuss an aerial posture control problem of a 2-link acrobat robot with nonzero initial angular momentum. First, the equations of motion and the law of conservation of angular momentum are shown. Next, we derive a strict feedback system in order to apply a backstepping procedure by a coordinate transformation. Then the control problem is formulated as designing a control law such that the state variables of the system go to the origin at a given time. We design a controller of the driving torque by applying a backstepping procedure to the system. In the control law, there are free gains which decide convergence speed of Lyapunov function. Constant gains and time-variant gains are examined. Then, it is shown that time-variant gains are useful in terms of control performance and input efficiency. Finally, we present simulation results to show validity of the Proposed controller.
  • 第1報, 試作機WL-15の設計・開発
    菅原 雄介, 圓戸 辰郎, 細畠 拓也, 御厨 裕, 林 憲玉, 高西 淳夫
    2004 年 70 巻 691 号 p. 790-797
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    This paper describes the mechanical and electrical design of a battery driven bipedal locomotor, WL-15 (Waseda Leg 15), made of 6 DOF parallel mechanisms. This locomotor is designed to employ as a leg module of multi-purpose locomotion systems. The locomotor, therefore, will he applicable to medical and welfare fields, entertainments, humanoid robots and so on. In the design of the robot, we have reduced the weight to the maximum extent, taking advantage of the features of the parallel mechanism which the mechanical rigidity is high. The weight of WL-15 is 57 kg including batteries and its height is 1.2 m. Using the developed bipedal locomotor, basic dynamic walking experiments with the step time of 0.96 sec/step and the step length of 0.1 m/step was conducted, and the effectiveness of its mechanism was confirmed.
  • 崔〓 丙, Olivier COMPANY, François PIERROT, 近野 敦, 渋川 哲郎, 阿部 幸勇, 佐藤 ...
    2004 年 70 巻 691 号 p. 798-803
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    This paper deals with the design and dynamic control simulation of a new type of 4-DOF parallel mechanism providing 3 translations and 1 rotation for high-speed handling and machining. This parallel mechanism is named as H4. A model-based dynamic control scheme is developed to improve the accuracy of the trajectory tracking. A simplified dynamic model is used for the H4 robot to decrease the cost of computation. A dynamic simulation is performed using ADAMSTM. The Adept motion is used as a benchmark test to evaluate the effect of the dynamic control. The simulation results show that the proposed dynamic control dramatically improves the trajectory tracking accuracy.
  • 中山 信行, 川本 広行
    2004 年 70 巻 691 号 p. 804-811
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    Formation of magnetic bead chains in a magnetic field was numerically simulated with the Distinct Element Method in order to apply for improvements of a magnetic brush development system in electrophotography. Simulated chain configurations, length and slant angle. and dynamic chain forming process were compared to the experimental results. The 2-D calculation could not simulate quantitatively well the chain configurations and the process, because the magnetic interaction between beads was under estimated due to the neglect of the interaction force between three-dimensionally distributed beads. On the other hand, 3-D calculation showed good agreement with experiments and it is concluded that 3-D calculation is indispensable for the quantitative evaluation. It was also confirmed that chain configurations were determined approximately to minimize its total potential energy given by the sum of magnetic energy and gravitational energy.
  • 渡辺 克巳, 許 瑛, 加藤 宏章
    2004 年 70 巻 691 号 p. 812-819
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    The driving link of nongrashof planar four-link mechanisms, that none of two adjacent links can make a complete rotation, oscillates in such a manner that coupler and driven links take different forms of two link chain in going and returning respectively. In this paper, the characteristic of relationships between the input and output angles is made clear. The coupler curve is classified according to the number of rotation and numbers of nodes, maximum curvature points, inflection points. Moreover, in order to perform one cycle motion of the nongrashof mechanism, the crank rocker mechanism whose oscillating range coincides with that of its driving link is designed. Pin gear trains to drive supplementally the driven link are presented so that the nongrashof mechanism may pass through limit positions.
  • 加工精度の予測による設計・加工条件設定の指針
    山本 敏彦, 西山 修二
    2004 年 70 巻 691 号 p. 820-827
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    A rotor housing is one of main parts that compose combustion chambers of Wankel engine. The inside of it is peri-trochoidal form is shape. It is ground with a grinding wheel at a fixed point on the locus of workpiece moved by a generating mechanism. Workpiece radius and speed at the grinding point vary considerably. Inertia force, torque and grinding force that are caused in the grinding process, elastically deform this mechanism and wheel axis system in proportion to the square of workpiece rotational speed. Therefore, the positional errors arise between a workpiece and a grinding wheel and those affect grinding form. To grind it efficiently and accurately, it is extremely important in the design process of grinding machine and in the processing of peri-trochoidal form to forecast quantitatively the ground form accuracy under such grinding condition. In this report, the form accuracy has been analyzed by grinding simulation system when the conditions variously change. Useful and effective guidelines are obtained for designing the machine and grinding the form.
  • 平歯車の場合
    吉野 英弘, 大島 史洋
    2004 年 70 巻 691 号 p. 828-834
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    A simplified model for calculating deformation of a gear tooth is proposed. In this model, the gear tooth is expressed by many thin gears that appear at the sections perpendicular to the tooth helix. Each thin gear deforms as a cantilever by the tooth load, and load transmission between the thin gears is made by shearing. Therefore, the tooth deformation that generally falls into a three-dimensional problem can be calculated as a two-dimensional problem. Using the proposed model, the transmission errors and tooth contact patterns of the spur gear pairs under the loaded conditions are analyzed in consideration with interference between the tooth tip and the mating tooth root. To confirm the calculated results, the loaded meshing tests were conducted on the gear-testing machine. The test results gave good agreement with the calculated ones.
  • 第1報, 表面性状とストライベック曲線による検討
    平山 朋子, 石田 尚, 菱田 典明, 前田 英史, 矢部 寛
    2004 年 70 巻 691 号 p. 835-840
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    MoS2-shot coating technology is recently focused as one of potential methods of surface modification to realize a low friction state. In this paper, performances of a small-sized journal bearing with MoS2-shot coating, which is aimed to be applied to a spindle of precision equipment such as magnetic recording storage system, are experimentally investigated through the observation of surface property and Stribeck diagram. Scanning electron microscope (SEM) images and reflection electron microscope (REM) images of SUS surface with MoS2-shot coating show that original MoS2 particles are broken into smaller pieces at bumping against SUS surface by jet flows of highly pressurized air, and are forcibly embedded into the surface with forming micro-dimples. Results of coefficient-of-friction characteristics of shaft-sleeve interface of the journal bearing, i.e., Stribeck diagram, show MoS2-shot bearing can realize a low friction performance at a low rotational speed and reduce the magnitude of stick-slip much compared with the case of no-coating bearing.
  • 伊藤 伸太郎, 福澤 健二, 張 賀東, 三矢 保永
    2004 年 70 巻 691 号 p. 841-848
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    An understanding of nanorheological properties of molecularly thin lubricant film is necessary to clarify the head-disk interface (HDI) of high-recording-density hard disk drives. The lubricant molecules are extremely confined to the head and disk surfaces, and the surfaces slide at a high sliding speed. The lower the flying height, the more the confinement affects the flying characteristics. However, few attempts have been made at clarifying the dynamic nanorheological properties of confined lubricant molecules. This is because the method for measuring the dynamic shear force has not been established. So, we have developed a new method of measuring dynamic shear force called “fiber wobbling method”. This method enables us to measure the shear force with a detection limit of about 1 nN. The frequency of shear is able to set to several kHz. The gap is controlled with a resolution of 0.1 nm. Using this method we investigated the effect of confinement on the dynamic viscoelastic properties of perfluoropolyether lubricant film on a magnetic disk. The results show that both viscosiy and elasticity of the lubricant film increase drastically when the gap is less than 13nm.
  • アルカリ粉末のコーティング処理
    高 綺, 谷 泰弘, 榎本 俊之
    2004 年 70 巻 691 号 p. 849-854
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    In order to increase removal rate of a silicon wafer, a new fixed-silica pad containing alkaline powders has been developed. But there are some problems to be solved, such as, adding alkaline powders deteriorates mechanical properties and uniformity of the pad and removal rate decreases with time. Moreover it is difficult to manufacture such pad after adding alkaline powders. Therefore, the coating processes of alkaline powders utilizing various coating agents were carried out. As a result, alkaline powders coated by polystyrene polymer were the most effective to solve, but coupling agent made more tough coating film by reaction with polyurethane polymer as matrix material of the pad. After coating process of KOH powders with titanate coupling agent, removal rate could become constant for a long time with better polished surface also. Instead of KOH powders, manufacturing of the pad with piperazine powders as an organic alkaline became possible by coating of the powders.
  • 石井 遊, 辻村 学, 太田 正廣
    2004 年 70 巻 691 号 p. 855-860
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    Magnetic bearing technology is applied to a CMP wafer carrier to control the polish rate profile by tilting the wafer carrier during polishing. If no control is applied, the wafer carrier subsides slightly into the pad and is tilted 18×10-5 rad by the viscoelasticity of the pad. The polish rate in the wafer outer area can be increased by tilting the carrier to the positive side; the polish rate of the wafer center area can be reduced by tilting it to the negative side. Constant current control leads to better control of the polish rate profile than feedback control. It has been reported to be possible to improve the polish rate profile by keeping the wafer carrier in a horizontal position using a magnetic control.
  • 穴あけ加工, 正面フライス加工, 切断加工への適用
    田辺 郁男, Hasrizal Bin HASHIM, Truong Hong MINH, 島 博志
    2004 年 70 巻 691 号 p. 861-866
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    Turning with environment-friendly cooling method using water evaporation for the earth was investigated and reported by previous authors. In the turning using water evaporation, the tool life was twice of that of the dry cutting. Surface roughness of workpiece using this cooling was the same to that of dry cutting. Cylindricity of workpiece using this cooling was one third of that of the dry cutting. Other cuttings with environment-friendly cooling using water evaporation were investigated in this report. The cutting process are drilling, milling using face mill and cutting using circular saw. In drilling, water was supplied to the workpiece through a tool holder and a hole on the drill. In same case of milling using face mill, water was supplied on a few tips with carbon cloth through a tool holder and a holder of face mill. And in case of cutting using circular saw, water was directly supplied on the circular saw in the cover during the air cut. In this experiment, temperature changes and tool lives of each tool were measured. It is concluded from the results that environment-friendly cooling using water evaporation was very effective for improving tool life of three cases.
  • 笹田 昌弘, 小林 仁, 青木 勇
    2004 年 70 巻 691 号 p. 867-872
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    Experiments and FEM analysis on small hole piercing were carried out. In this paper, small hole piercing is defined as piercing performed using punches that have smaller diameter than the material thickness. The results of this study clarified the followings ; 1) Shearing force, stripping force and pushing force are considerably affected by the friction between the punch flank and inner surface of pierced hole, 2) The use of tapered punch is effective for reducing frictional force, and 3) Increasing the linear portion at the punch tip increases the shearing force. The experimental and analytical results were also found to agree for these findings.
  • 村井 大輔, 廣井 徹麿, 西村 尚
    2004 年 70 巻 691 号 p. 873-878
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    New lumber compression process, named sandwich roll press method, was developed. In this method lumber is rolled with a pair of metal jigs because rolling process is more suitable than prevalent press process to manufacture long products such as bar or column which is necessary for wood market. In this paper, limit compression ratio and plasticizing conditions of new method were investigated experimentally, and bending test was performed for estimation of strength of the products. The results indicate that this new method has possibility to manufacture longer lumber compressed highly than the manufactured by press process and that plasticizing conditions don't influence surface appearance and bending strength of lumber compressed by new method as the conditions of press process. These results show the effectiveness of this new method.
  • 吉村 達, 佐藤 吉信
    2004 年 70 巻 691 号 p. 879-885
    発行日: 2004/03/25
    公開日: 2011/03/04
    ジャーナル フリー
    Recently computer systems have been widely applied to safety-related systems for achievement of safety functions. This general trend forced IEC to compile IEC 61508 as a standard related to functional safety of electrical/electronic/programmable electronic safety-related systems, i.e., E/E/PE SRS (SRS). Currently JIS includes the translated standard of IEC 61508, JIS C 0508. In accordance with the standard, an SRS is specified with its safety function (s) and safety integrity level (s) (SIL) and the SILs to be allocated to the SRS are specified with four levels of safety integrity. The standard requires assessing the risk reduction achieved by SRS using appropriate probabilistic techniques for allocation of SILs to SRS. However, the relationships among SILs, operation modes and hazardous event frequencies are not always cleared up yet. This paper presents a new model using two Sequential Failure Logics in order to describe causation of hazardous events in the overall system composed of equipment under control (EUC), EUC control system (BCS) and SRS. The SRS is assumed to implement a safety function in a dynamic demand state and assumed to have no automatic self-diagnosis functions. Then, the relationship among a dangerous undetected failure of SRS, demands for actuation of SRS and hazardous events brought about in the overall system is formulated based on the model. Moreover, new demand modes of operation and estimations of Hazardous Event Frequencies are proposed for allocation of SILs to SRS.
  • 2004 年 70 巻 691 号 p. 886
    発行日: 2004年
    公開日: 2011/03/04
    ジャーナル フリー
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