Flywheels have several advantages such as long life, high reliability, and high environmental resistance. This paper describes the application of flywheel to uninterruptible power supplies that rotate a motor-generator at commercial frequencies of 3000min^-1. Conventional systems that use flywheel generators require high-capacity semiconductor power converters for energy conversion. Moreover, a specially designed generator is required because the generator operates at variable speed. To overcome these weaknesses, this paper proposes a flywheel generator using a planetary gear, which is a mechanical shaft coupling mechanism. The use of a planetary gear enables the flywheel and generator to rotate at different speed. As a result, even if the flywheel speed drops during a power outage, the generator speed can be kept constant. This paper reports on the design guidelines and experimental verifications for a 1-kW system.

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To improve the efficiency of 3K-type mechanical paradox planetary gear drive, a new design method called the approach-and recess-contact ratio equalization method is proposed and described. The concept of this method is to satisfy the coaxial condition of the rotatory- and fixed-internal gear pairs, which have a large influence on the efficiency of the gear drive, and simultaneously to maximize their efficiency. For this purpose, first the contact ratios of the two internal gear pairs are given ; second, their profile-shift coefficients are determined so that the coaxial condition can be satisfied ; then, the diameters of their addendum circles are determined so that their approach- and recess-contact ratios can be equalized. The efficiency of the gear drive obtained by this design method is theoretically calculated under the assumption that the tooth surface frictional coefficients are all 0.1. Consequently, the maximum efficiency of 86.1% is obtained on a gear drive with a reduction ratio of 1/351 and a contact ratio of 1.2. This obtained efficiency is higher by 12% and 8% than the efficiencies of 74% and 78%, obtained by the conventional design method without and with profile-shift coefficient optimization, respectively.

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A new method of tooth profile synthesis using vector equations for derivation of the tooth profile of a gear from the given tooth profile of the mating gear is proposed. The ideal tooth profiles of conical-external and-internal gears which engage with the inclined cylindrical-involute gears over the entire tooth width were derived using the proposed method. Moreover, the tooth profiles in a plane perpendicular to the axis of the inclined cylindrical gear were derived from the obtained ideal tooth profiles, and their characteristics were investigated. The following results were obtained: (1) the tooth profiles of the conical-external and-internal gears are almost equal to the involute curves in the plane perpendicular to the axis of the inclined involute gear; (2) the radii of the base circle of the involute curve are given by the equivalent tooth numbers of the conical-external or-internal gear; (3) the profile-shift coefficient is given by the center-to-center distance between the inclined involute gear and the conical-external gear, or between the cylindrical gear and the conical-internal gear; (4) the profile-shift coefficient changes nonlinearly along the axis of the cylindrical-involute gear.

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はトルク重量比が大きいため多くの機械に用いられる一方で，プラネットギヤの複雑なかみあいや運動による振動騒音が問題となっている．従来，のキャリアがあるためにプラネットギヤの挙動を分析することは困難だったが，アクリル部材で製作した透明なキャリアを用いることで分析を可能にした．本研究ではの動特性の解明に向けて，プラネットギヤの挙動を分析し，歯車間の相互作用を考察した．

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介護の現場におけるパワースーツなどに用いられる差動機構としての

が着目されつつあるが，精密な位置決めに加え，動力合成における過渡応答性が問題となっている．本研究では，ハイスピードカメラを用いて差動の反転・起動における回転伝達の過渡応答を観察した．差動の幾何学的な関係に加え，入出力軸の慣性モーメントの比の影響について考察をおこなったので報告する．

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は多くの機械で用いられているが未だにその複雑さから振動騒音の問題が解決されていない．これまでのシミュレーションにはFEMやMatlabが用いられてきた．本研究ではボンドグラフを採用し，従来のシミュレーションとの差異を検討した．そのうえでのかみあいに着目し，かみあい剛性及び減衰率の影響について考察を行い，独自に開発した試験機における実験との整合性の考察も行った．

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は多くの機械に用いられ，複雑なかみあいによる振動騒音などが問題となっている．振動の原因は共振が挙げられるが，本報では2入力1出力の2K-H型差動の加減速時の過渡状態の共振とトルク変動の関係性について考察をした．その結果，差動のサンギヤとキャリアではかみあい周波数と固有振動数の共振が生じる時刻におけるトルク変動の変化は大きいが，リングギヤでは変化が小さいことがわかった．

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感光体ドラム駆動ユニットの新規開発で実践した体系的なモデルベース開発 (model based development, MBD) アプローチについて報告する．業界では初となる

を採用した駆動システムの開発において，ロバスト性と耐久性を効果的に確保することを目的に，設計上流の開発プロセスにMBDと品質工学を活用した．機構設計では，樹脂部品の成形誤差や組立て誤差の影響を把握し，ロバストな設計指針を基に回転変動を抑えたを設計した．耐久評価では，予め寿命が既知の駆動ユニットをベンチマークとして，市場を想定した温湿度環境，動作モードで劣化テストを行い，立ち上がり時のモータ消費電流波形からSN比 (signal-noise ratio) を求め，ベンチマークとのSN比の差から寿命を短期間で予測した．更に，稼動時の負荷変動や歯車回転周期変動による速度変動を低減することを目的にフィードバックとフィードフォワード制御を組合せた制御系設計を行い高回転精度を達成した事例を紹介する．

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A new gravity pendulum method has been proposed in order to precisely measure the tooth surface friction coefficient between a mating pair of gears, and the tooth surface friction coefficient measurement apparatus of gravity pendulum type has been produced based on the principle of the method. In the apparatus the center-to-center distance between the pair of gears is kept constant with a flexure hinge mechanism, and the practical rolling and sliding motions between the mating teeth is exactly realized. The tooth friction coefficient is calculated by equating the dissipated potential energy of the gravity pendulum during some free pendulum oscillations with the work done by the friction force between the mating teeth during the oscillations. Since the amplitude of the oscilllation is approximately equal to or less than one arc-degree, the tooth surface friction coefficient can be measured on a small area of the tooth surface. After investigating the influences of the horizontal oscillation of the ground where the measurement apparatus was set and the small clearences in the flexure hinge mechanism on the measurement of the free vibration of the gravity pendulum, the tooth surface friction coefficient was measured for a pair of internal and external gears. As the result it is found that it is required to oscillate the gravity pendulum with an amplitude which is equivalent to or larger than the width of HertzJan contact, thereby obtaining the precise value of tooth surface friction coefficient.

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差動

は多くの機械に用いられている一方で，複数の入出力関係を有することや異なるかみあい状態を有する遊星運動を持つこと等から，その動特性が十分に明らかにされていない．そこで本研究では，差動の動的モデル化に向けて，各要素の運動方程式からブロック線図を描き，差動の応答特性に関するシミュレーション方法について提案した．また，そのシミュレーション方法の検証をおこなった．

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Earlier equations for calculating the theoretical efficiency of planetary gear drives with two degrees-of-freedom produce great error in some cases. In order to eliminate the error, the authors derive new equations taking into consideration the effect of the coupling speed between the planet gear and the sun gear or the internal gear. These equations are derived using a simple law based on mechanics to meet the boundary conditions required for power flow in the drives. Numerical calculations are conducted using the earlier and present equations and differences in the efficiencies are shown for the case of representative planetary gear drives.

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A novel planetary gear train (PGT) as a mechanical continuous varying gear ratio transmission is introduced and tested in this paper. The novel PGT has a novel shaft which connects planet gear rotation axis and revolution axis on it by universal joint.Although PGT has been using in many kinds machines, noise and vibration problem is still critical and it is yet to be done, especially in advanced transmission such as Toyota hybrid system and geared turbo fan engine. The new PGT can reduce meshing frequency less than one third compared to ordinary 2K-H PGTin the same gear ratio and the noise level in the new PGT is also less than that of 2K-H PGT. Furthermore, the new PGT can provide wider gear ratio than 2K-H PGT in the same meshing frequency level. Although it can achieve development goals, it also has several serious problems due to tilting axis. Problems and solutions for them are discussed in the last paper of this paper, and further PGT is introduced.

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非円形外および内歯車を設計, 製作する場合に伴うピッチ曲線の形状, 干渉その他の限定条件を解析し, これらの歯車を含むの設計条件を求めた. つぎに, 間欠回転運動を行う不等速非円形を総合し, 非円形歯車形削盤を試作して歯切りを行い, 機構を製作した. また, 機構の静的実験解析を行って, その特性を検討している.

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In the present report, an original test stands are designed for novel three-axis driving with planetary gear train. In this test stand, there are three input/output shafts, and one of them must be shifted to parallel axis to measure torque on all axes. Furthermore, a design concept is discussed to achieve a stable controlled running condition from a view of inertia balance because the component of the shifted axis must be hollowed to make another axis through. Comparison between two different planetary gear trains; a system with hollowed carrier and one with hollowed ring gear, is performed using two kinds of constructed test stands. It is concluded that the balance of inertia among components in a planetary gear train is quite critical to achieve stable driving. Especially inertia of carrier and that of ring gear, which is largest inertia among the components, are recommended to be almost equal, because big torque generated by large inertia when rotation is fluctuated influences on the stability of a planetary gear train.

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Planetary gear trains (PGTs) are widely used in various kinds of machines owing to its advantages, such as high gear ratio, compactness, light weight, and high-load capacity. Needs for PGT especially as a differential device are getting bigger and bigger such as in the human friendly robot and assisting suite. Although there are many studies about PGTs, experimental studies are few, and also almost all studies are dealing steady conditions in ordinary simple usage for reduction. Therefore in this study, transient conditions in starting up are dealt, and the motion of planet gear, which is hidden in ordinary PGT, is directly observed by high-speed camera on novel PGT named U/2K-HV equipping clear acrylic carrier.

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Noise levels of motor vehicles are becoming an important subject of environment regulation. Recently, a reduction in the noise and vibration of planetary gear drives to be used for an automatic transmission of passenger cars has become an important project. The authors designed and made a planetary gear testing machine which can test the component planetary gear trains in an automatic transmission of the cars. The phase difference in gear tooth meshing is given to the planet gears which make contact with the sun and internal gears. As component gears, shaved and hardened helical gears with and without grinding were used and the rotational speed and the tooth load were changed. The experimental results clearly showed that a reduction in running noise and vibration was surely obtained when the phase difference in tooth meshing was introduced.

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良好な動作効率および制御性のため，電磁モータは様々な分野において用いられる。電磁モータは高速・低トルクであるため，減速機とともに利用される。一般的にロボットに用いられる減速機は減速比が固定である。しかしながら，固定減速比の減速機を用いた場合，低速および高速動作の両立が困難であるという問題が存在する。そこで本論文では，遊星歯車を用いた可変減速比機構を設計し，可変減速比を実現する制御系設計を行う。

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