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小島, 宏行 ; 千木良, 英幸 ; 桑野, 好文 ; 阿部, 慶一 ; 菊地, 範芳
概要:
application/pdf<br />Journal Article<br />This study deals with the trajectory tracking control of a three-degree-of-freedom semiconductor wafer transfer robot arm driven hybrid stepping motors. The desired trajectory of the end of the
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robot is set to be a straight line, and the desired posture of the third link is constant. The high-precision control of the hybrid stepping motor is executed with the microstep drive technique. The desired joint angle is obtained by the microstep technique and the trajectory planning method based on the inverse kinematics. From the numerical calculation results and the experimental results, it is confirmed that the trajectory tracking control of the three-degree-of-freedom semiconductor wafer transfer robot arm can be successfully executed by the present high-precision control system with microstep drive technique. Furthermore, the error of the end of the robot arm is theoretically investigated.
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中沢, 信明 ; 梶川, 伸哉 ; 猪岡, 光 ; 池浦, 良淳
概要:
application/pdf<br />Journal Article<br />This paper describes path planning of grippers emulating human's grasping motions with respect to the thumb and index finger. When the hand approaches to the target object, the velocity patterns of
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the tips are bell-shaped regardless of the initial hand position. Path planning of two tips is similar to the obstacle avoidance against the target object and avoidance motion trends to be conducted by the index finger. Utilizing the obtained human characteristics, the path planning model is constructed in the complex potential field. As a result of simulation, it can be confirmed that the two tips separately go round the target object so as to approach the grasped part due to the artificial potential, and they move slowly in gripping process just like a human since each tip motion is based on the bellshaped velocity pattern.
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中沢, 信明 ; 池浦, 良淳 ; 猪岡, 光
概要:
application/pdf<br />Journal Article<br />This paper describes characteristics of impact force in human placing motion. The experimental result says that the human performs placing motion dexterously without violent impact force due to
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keeping the upper frictional forces of the fingertips, which is applied on the grasped object after the object contacts with the floor. Slow change rate of moving the object mass to the floor has the effect of reducing the peaks value and temporary convergent value of the impact force. Moreover, smaller grasping force at a moment of collision can restrain the violent impact. Next, taking the strain pattern of the fingertips into consideration, the simulation of human placing motion is performed. When the viscosity of the fingertips in the shearing direction is higher, the impact force of the simulation has high convergent value similar to the case where the grasping force is set to be larger.
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藤沢, 延行 ; Warui, Mwai Hebron
概要:
application/pdf<br />Journal Article<br />The present paper describes the active method for controlling vortex shedding from a circular cylinder in uniform flow. The cylinder motion in the cross-flow direction is controlled by the reference
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velocity signal in the wake with some phase lag, with the aim of reducing vortex shedding from the circular cylinder. The effectiveness of this method is studied by wind-tunnel experiments with flow measurement and visualization. All the results indicate that the reference velocity in the wake is weakened by active control at the optimum phase lag and is strengthened at the reverse phase lag. A similar reduction and enhancement in the velocity fluctuations in the wake with this control at these phase lags is observed in the flow measurement in the cross section of the wake, and is also cofirmed in the whole flow-field visualization study by the smoke-wire method with a laser-sheet technique. These results suggest the possibility of reduction of vortex shedding from a circular cylinder and modification of the wake by the present active control method.
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藤沢, 延行 ; 川路, 泰司
概要:
application/pdf<br />Journal Article<br />The present paper describes a new active method for controlling vortex shedding from a circular cylinder in a uniform flow, using rotary cylinder oscillations controlled by the reference
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velocity signal in the wake with some phase lag. The effectiveness of this active method is evaluated by measuring the response of mean and fluctuating velocities in the cylinder wake and by visualizing the flow field around the cylinder. It is found that velocity fluctuations are reduced by the control at the optimum phase lag, while they are enhanced at the reverse phase. The maximum reduction of 30 percent in the reference velocity fluctuations is obtained with the optimum control, where the optimum value of phase lag and the feedback coefficient are adopted. The modification of the mean velocity profile and the reduction in the fluctuating velocities in the wake are measured under the optimum control and the corresponding variations in the visualized flow field are recognized, similar to the change observed under the control with cross-flow cylinder oscillations.
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長屋, 幸助 ; 武田, 定彦 ; 永井, 健一 ; 佐藤, 淳 ; 杉浦, 光則 ; 佐川, 竜一郎
概要:
application/pdf<br />Journal Article<br />This paper proposes a two-dimensional displacement sensor which is available to detect high speed phenomena such as high frequency vibrations. The sensor consists of a laser, polarisers, a beam
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splitter, solar cells and clean plates in which an index of double refraction varies in one direction. Since the clean plate as just mentioned has not been produced, this paper applies thin films sandwiched with a magnetic fluid, and the double refraction is generated by using permanent magnet. In this system, the laser beam propagating from the moving body is divided into two beams by a beam splitter, and the divided beams pass through the two clean plates whose refraction axes are in right angles with each other. An intensity of the laser beam after passing through the clean plate is detected by a solar cell. Then the position of each beam is decided by the intensity of the laser beam. Experimental tests have been performed to verify the principle as just mentioned.
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長屋, 幸助 ; 吉田, 彬 ; 井開, 重男 ; 山本, 哲也 ; 横山, 信行 ; 永井, 健一
概要:
application/pdf<br />Journal Article<br />This paper is concerned with a method for measuring masses of the magnetic particles in a fluid such as a magnetic fluid. Two methods are proposed, one of which is the phase difference procedure
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by use of a laser, and the other is the nuclear magnetic resonance (NMR) procedure. Experimental tests have been carried out to find masses of the magnetic particles in the magnetic fluid with various densities by using the methods mentioned above. It is clarified that the present methods are applicable to measure the masses in a fluid, including a few particles.
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永井, 健一 ; 笹井, 重俊 ; 長屋, 幸助 ; 武田, 定彦 ; 内山, 茂
概要:
application/pdf<br />Journal Article<br />This paper presents a method for the error compensation of measuring data in a two-dimensional length measuring device from lack of sufficient stiffness. Introducing the mode shape function
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which is expressed with the product of the finite power series truncated with fourth order and the trigonometric function to the least square approximation. Applying the method to the test device, the effects of compensation are clarified. It is found that this method gives good results to improve the measuring accuracy with the limited number of terms for unknown coefficients, compared with the approach of the Fourier series.
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中山, 満茂 ; 荻原, 五郎
概要:
application/pdf<br />Journal Article<br />Particle sizing and characterization in hot air streaming were studied by using a particle sizer based on the Fraunhofer diffraction principle. The most important problem is a noise signal
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induced by the flickering phenomena of incident light through hot air. A calibration reticle was used for analyzing the noise signals, and a data kill method for compensation was presented. Alcohol fuels such as methanol, ethanol, etc, were injected in hot air streaming and their characteristic diameters were estimated by the presented method.
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小保方, 富夫 ; 松尾, 典孝 ; 平野, 嘉男
概要:
application/pdf<br />Journal Article<br />ピストン・リード弁付きクランク室圧縮形二サイクル機関の流れをレーザ流速計で実時間測定した.その結果,交換窓や回転窓の使用が不可欠であることがわかった.また,
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実機の吸気流および排気流は駆動と発火時によりかなり異なったパターンを示すが,掃気流ではあまり差異はない.さらに機関を一連の管系におきかえ,特性曲線法を用いたシミュレーションで求めた駆動と発火時の各管内流は実測値とよく一致した.
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