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| 1.
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図書
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佐藤秀紀, 岡部佐規一, 岩田佳雄共著
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| 2.
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論文
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馬, 志強 ; 八重澤, 美知子 ; 岡部, 佐規一 ; 広瀬, 幸雄
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論文
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青柳, 誠司 ; 岡部, 佐規一 ; 佐々木, 健 ; 高野, 政晴
概要:
Nowadays numerous industrial robots are increasingly applied to complicated and precise operations such as assembly. So precise estimation of performance characteristics of a robot, such as positioning accuracy, orientating accuracy,
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path accuracy and soon, is being necessary for both users and manufacturers of robots. However it is difficult to measure the position and orientation of a robot moving in wide 3-D (three dimensional) space without contact, in real time and with high accuracy. In this paper a system using ultrasonic waves is proposed. The principle is a triangulation using distances between transmitters attached to a robot arm and receivers placed around the work space of the robot. An electric spark which works as a non-directional point source of ultrasound is used as a transmitter. This system is simple and economical compared with that using laser beams or LED. Moreover the accuracy is good because it measures distances directly from the time-of-flight of an ultrasonic pulse. In this first report the principle and a trial manufacture are dealt with.
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| 4.
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論文
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岡部, 佐規一 ; 横山, 恭男
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論文
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岡部, 佐規一 ; 神谷, 好承 ; 三浦, 美智雄 ; 横山, 恭男
概要:
When the difference of pressures between inlet cylinder chamber and exhaust one is small and also the sliding velocity of piston becomes considerably small, the stick-slip motion is generated. Under some assumptions, the approximated
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practical equations of motion of pneumatic cylinder is obtained. The period of stick-slip motion and the displacement of piston during one period of stick-slip motion are also obtained by approximated equations. Analytical results show that the period of stick-slip motion and the displacement of piston are affected by the position of piston, orifice area of speed controller, pressure of air supply and so on. For example, in the case of meter-out circuit, the period of stick-slip motion and the displacement of stick-slip motion increase as the volume of exhaust cylinder increases. On the contrary, in meter-in circuit, both period and displacement decrease as the volume of exhaust cylinder increases. In either case, the period and the displacement decrease as the pressure of air supply increases. But the influences of load on the period and the displacement are quite small. These results are shown in various diagrams. The theoretical results agree well with the experimental studies.
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| 6.
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論文
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神谷, 好承 ; 岡部, 佐規一 ; 横山, 恭男 ; 小林, 透
概要:
This paper considers a possibility of decision whether the robot hand is having a correct work or not by using the analysis of the mechanical vibration of robot that is doing an operation. The dynamics of robot is changed by the various
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works that the robot hand has or the incorrect movements of robot, and this change of robot dynamics can be analyzed by the residual vibration of robot. Here, this study showed that the state of operation of robot could be recognized on-line operation of robot by using a vibration analysis of robot that is the AR (Autoregressive) Model method.
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| 7.
論文 |
論文
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神谷, 好承 ; 青柳, 誠司 ; 岡部, 佐規一
概要:
Fault diagnostic technique of the industrial robot will be greatly needed in the various automatic systems. When the rob
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ot moves irregularly, it must be generally done that the movement of robot should be stopped as soon as possible as one of the safety factor. In this study, one fault diagnostic technique of robot motion is proposed to resolve the above mentioned problem. It is the proposed technique in this study that the small vibration of robot arm that is caused by the operation of robot is always been monitoring and the decision whether the robot moves regularly or irregularly is done statistically compared with the regular small vibration of robot arm. Due to the experimental results of fault diagnosis of robot motion, it is found that χ2 inference technique about the amplitude distribution of small vibration is good fault diagnostic technique of robot motion.
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| 8.
論文 |
論文
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井上, 二郎 ; 横川, 博 ; 岡部, 佐規一
概要:
AMラジオ用セラミックフィルタの小型化のために溝入り矩形板振動子を用いた3端子フィルタを提案し、素子形状とフィルタ特性の関係を3次元有限要素法により解析した。フィルタ特性は等価容量及び各制動容量相互の比に依存し、この容量比が溝を入れることで
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改善されることを明らかにする。また、スプリアスの振動モードとその周波数、容量比についての検討を行い、振動子寸法、電極寸法、支持方法によりスプリアスの抑圧が可能であることを明らかにする。これにより溝入り矩形板振動子の実用性が高いこと及びフィルタの最適設計に3次元有限要素法解析が有効であることを示す。
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| 9.
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論文
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李, 沢群 ; 神谷, 好承 ; 岡部, 佐規一 ; 横山, 恭男 ; 戸上, 常司
概要:
In a flexible automated assembly system, many kinds of parts must be assembled at one assembly workstation in a limited
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space. In order to meet such a requirement, following problems have to be solved. (1) Logistics of parts flow, (2) Space that parts feeding equipments take up, (3) The techniques of programmable parts supplying and feeding from three dimensionally stacked partsfeeding equipments, (4) Development of hands which can handle multiple types of parts. As one approach to solve those problems, a parts supplying robot “Lazy Monkey” has been developed. In this report, necessity of parts supplying robot is discussed and its design concept are showed. Fundamental structure is given and several characteristics are discussed.
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| 10.
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論文
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岡部, 佐規一 ; 神谷, 好承
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