1.

論文

論文
小島, 宏行 ; 桑名, 秀晴 ; 疋田, 嘉一 ; 水野, 寿考
出版情報: 日本機械学會論文集. C編.  56  pp.1352-1357,  1990-06-25.  日本機械学会
概要: application/pdf<br />Journal Article<br />In a direct-drive robot, motors are directly coupled to the links without reduction gears, and high-grade control performance can be achieved. However, transient vibrations may frequently be generated owing to little friction and torque ripple of motors. In this report, the transient vibration characteristics of a horizontal two-link direct-drive robot are investigated theoretically. In the analysis, the torque characteristics are modeled in consideration of the torque ripple and the torque saturation characteristics of direct-drive motors, and the nonlinear state equation of the direct-drive robot is derived in consideration of the bearing elasticity of motors. Numerical simulation is carried out, and the effects of the torque ripple, the torque saturation characteristics and the bearing elasticity of direct-drive motors on the transient vibration characteristics of the direct-drive robot are demonstrated. 続きを見る
2.

論文

論文
小島, 宏行 ; 植杉, 献 ; 根津, 紀久雄 ; 坂本, 賢治
出版情報: 日本機械学會論文集. C編.  56  pp.1217-1222,  1990-05-25.  日本機械学会
概要: application/pdf<br />Journal Article<br />In this study, the mechanical system and the circular path control system of a horizontal two-link robot are constructed by utilizing step motors and harmonic drive gears. The effects of the excitation method of the step motors and the shape of the velocity pattern of the circular path control system on the dynamic characteristics are investigated. In the circular path control system, the control pulse generation algorithm to the step motors is constructed by use of inverse kinematics. From the experimental results, it is seen that the circular path control can be achieved with a comparatively high accuracy. Then, it is advisable for stable and fast circular path control without the failure phenomenon of the step motors, to utilize the two-phase excitation method of the step motors and the trapezoidal velocity pattern of the circular path control. 続きを見る
3.

論文

論文
小島, 宏行 ; 田口, 和哉 ; 辻, 浩明
出版情報: 日本機械学會論文集. C編.  55  pp.2390-2395,  1989-09-25.  日本機械学会
概要: application/pdf<br />Journal Article<br />When an industrial robot with a power transmission mechanism such as a harmonic drive gear is operated, vibrations resulting from the torque ripple of the power transmission mechanism are frequently generated. However, few studies on robot vibration characteristics owing to torque ripples have been reported. In this paper, the vibrations of a horizontal two-link robot are investigated with consideration given to the torque ripple and the nonlinearity of the power transmission mechanism. In the numerical analysis, the torque characteristics are assumed to be the product of the nonlinear function of the torsional angle of the gear teeth and the torque ripple represented by means of the the Fourier series of the rotating angle of the input axis. Numerical simulation is carried out, and the effects of the torque ripple and the nonlinearity on the vibration characteristics of the robot are demonstrated. The experiment also shows that the torque ripple can cause a good deal of vibration. 続きを見る
4.

論文

論文
小島, 宏行
出版情報: 日本機械学會論文集. C編.  54  pp.1252-1256,  1988-06-25.  日本機械学会
概要: application/pdf<br />Journal Article<br />When an alternating electromagnetic force is applied to the mechanical vibration system, nonlinear forced vibrations such as superharmonic and subharmonic vibrations are generated owing to the nonlinearity of the electromagnetic force. In this report, the analytical method by the finite element method and the harmonic balance method is presented to investigate the nonlinear vibrations of a beam subjected to the alternating electromagnetic force. In the analysis, the equations of motion of the beam are obtained by the finite element method, and the nonlinear matrix equations which decide the force vibration amplitudes are derived in consideration of the second order superharmonic and the one-second order subharmonic by applying the harmonic balance method. Then, the nonlinear matrix equations are reduced, and three simultaneous equations are derived. Furthermore, the numerical results by use of the Newton-Rapson method agree well with the previous numerical results, and the present analytical method is confirmed. 続きを見る
5.

論文

論文
小島, 宏行 ; 根津, 紀久雄 ; 黒沢, 勝彦
出版情報: 日本機械学會論文集. C編.  53  pp.1017-1021,  1987-05-25.  日本機械学会
概要: application/pdf<br />Journal Article<br />Dynamic characteristics of a beam structure with an active electromagnetic damper are investigated by the use of the finite element method and the Laplace transformation. A shock pulse is applied to a beam subjected to a camping force by the active electromagnetic damper. In the analysis, first, the governing matrix equations of the coupling system consisting of the beam and the active electromagnetic damper are obtained by the use of the finite element method. Then, the governing matrix equations are transformed into the complex domain by the Laplace transformation method, and the transient vibration responses of the coupling system are derived directly by the application of the residue theorem. Furthermore, numerical calculations are carried out for an exponentially decaying pulse and a half sinus one, and the numerical results agree well with the previous experimental ones. 続きを見る
6.

論文

論文
小島, 宏行 ; 白石, 秀雄 ; 長屋, 幸助
出版情報: 日本機械学會論文集. C編.  52  pp.1198-1202,  1986-04-25.  日本機械学会
概要: application/pdf<br />Journal Article<br />In this report, the transient vibrations of a beam mass system subjected to nonlinear electromagnetic force are investigated theoretically and experimentally in consideration of both the nonlinearity of the electromagnetic force and the inductance of a electromagnet. The beam is fixed at one end, and the mass is attached to another end. The electromagnetic force produced by the elctromagnet acts on the mass. The electromagnet is excited by sinusoidal waves, rectangular waves and rectangular pulse voltages by using a micro computer. In the analysis, the electromagnetic force is approximated by using a series of rectangular pulses, and the lateral vibrations of the beam are obtained by adding the individual responses due to each rectangular pulse. The response solution of the governing partial equation of the beam mass system is derived by the Laplace transformation method. The numerical results agree well with the experimenatal ones. 続きを見る
7.

論文

論文
長屋, 幸助 ; 小島, 宏行 ; 岩田, 浩明 ; 伊藤, 美津夫 ; 太田, 幸一
出版情報: 日本機械学會論文集. C編.  52  pp.498-506,  1986-02-25.  日本機械学会
概要: application/pdf<br />Journal Article<br />磁気ダンパとサーボモータを用いた,コンピュータによるパルス信号制御の開ループ位置決め系を提示し,この系の妥当性を検討した.解析では軸振動の影響を考慮し,ばね と連続体についての両結果を誘導して両者の比較検討を行い,通常の制御速度でのばね系による解析の妥当性を明らかにした.また軸を剛体とした場合の結果を示して軸振動の影響を検討した.さらに軸の強度設計の観点から,軸のねじりモーメントを与える式をも示した. 続きを見る
8.

論文

論文
小島, 宏行 ; 新山, 文彦 ; 長屋, 幸助 ; 永井, 克巳
出版情報: 日本機械学會論文集. C編.  51  pp.3242-3249,  1985-12-25.  日本機械学会
概要: application/pdf<br />Journal Article<br />本報は, 衝撃力が作用するはり状構造物の振動制御の実験を, 前報で試作した速度フィードバック形電磁ダンパを用いて行うとともに, はり形の振動変位ならびに制御 系の電流の衝撃応答解を, ラプラス変換法およびベルヌーイ・オイラーのはり理論を用いて厳密に導いたものである. なお衝撃力として, マイクロコンピュータと電動リニアアクチュエータによる電磁力を用いた. さらに振動制御の効果や安定性などについて詳細に調べた. 続きを見る