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小島, 宏行 ; 桑名, 秀晴 ; 疋田, 嘉一 ; 水野, 寿考
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
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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.
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長屋, 幸助 ; 加藤, 宗一
概要:
application/pdf<br />Journal Article<br />This paper is concerned with a method for analyzing the dynamic response of a multispan beam on magnetic supports to an unsteady load decaying exponentially with time. The analysis assumes the
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nonlinear spring system as a group of segments of linear springs, and derives the expression for the nonlinear transient response by use of a method combining the Laplace transformation, Fourier series expansion and residue theorem. Numerical calculations have been carried out for some sample problems, and the effects of nonlinearity due to the magnetic supports have been clarified.
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長屋, 幸助
概要:
application/pdf<br />Journal Article<br />An analytical method and a result for obtaining dynamic stresses in the valve-spring of a driven valve system of internal combustion engines are presented with a consideration of the end
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effects. To treat the complex dynamic behavior due to cam rotation with complex profile, this paper applies a combination method of the transfer matrix, the Laplace transform and the Fourier series expansion procedures. Numerical calculations have been carried out for a sample case of general valve-springs, and the numerical results for the dynamic stresses have been obtained in the case of a spring excited by the driven valve system.
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長屋, 幸助 ; 大月, 和也
概要:
application/pdf<br />Journal Article<br />This paper discusses a nonlinear transient response of a floating body supported by a magnetic force which is generated between two magnets of the same poles. In this system there are two
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kinds of nonlinearity, one of which is due to the restoring force between maguets and the other is due to the load which is a function of the displacement of the body. To treat these nonlinearities the restoring force is assumed to be a partly linear spring and the load is treated by the successive iteration method. This paper also considers the general transient load, and applies a combination method of the Fourier expansion and the Laplace transform method given by Nagaya. Numerical calculations have been carried out for one of the models. To verify the present analysis, experimental tests have also been performed for the same model treated in the numerical calculation.
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