近畿大学次世代基盤技術研究所報告 Vol. 5（2014）145－152‫ڦ࣮ࣗࣅࣞڦ‬⌫㠃࣮ࣔࢱࡢ◊✲ືྥResearch and Development of Spherical Motor         ḟୡ௦ᇶ┙ᢏ⾡◊✲ᡤ*1  ≉௵ᩍᤵ ▮㔝 ᬛ᫛                 Tomoaki Yano        In this paper, the history of spherical motor development is reviewed. The history showsthat there are a lot of application areas for the spherical motor and the spherical motor
technology reaches the practical development stage now. Then, recent research results of ourgroup are reported. Our project has two goals. One is to establish an academic framework of thespherical motor theory by extending the design theory of the conventional motor. Another one isto develop practical spherical motors. The future of the spherical motor is also discussed.
Keywords: Motor, Multi DOF, Spherical, R and D, Polyhedron㸬ࡣࡌࡵ࡟ࠕࡶࡢࢆື࠿ࡋ㸪᧯ࡿࠖ࢔ࢡࢳ࢚࣮ࣗࢱᢏ⾡ࡣ㸪⌧௦ࡢ࠶ࡽࡺࡿ⛉Ꮫ㺃⏘ᴗࡢᇶ┙࡜࡞ࡿᢏ⾡࡛࠶ࡿ(1)㸬ຊࡀᙉࡃ㸪ࣃ࣮࣡ࡀ኱ࡁࡃ㸪ຠ⋡ࡀⰋࡃ㸪ไᚚࡀࡋࡸࡍࡃ㸪㍍
࠸࢔ࢡࢳ࢚࣮ࣗࢱࢆồࡵ࡚㸪◊✲㛤Ⓨࡀ⾜ࢃࢀ࡚ࡁ࡚࠸ࡿ(2)㸬
ࡋ࠿ࡋ࡞ࡀࡽ㸪ᐇ⏝࡟࡞ࡗ࡚࠸ࡿ࡯࡜ࢇ࡝ࡢ࢔ࢡࢳ࢚࣮ࣗࢱࡣ㸪ࡑࡢ㐠ືࡀᅇ㌿ࡶࡋࡃࡣ┤ືࡢ 1 ⮬⏤ᗘ࡟ไ㝈ࡉࢀ࡚࠸ࡿ㸬ࡋࡓࡀࡗ࡚㸪ࣟ࣎ࢵࢺࡢ㛵⠇࡞࡝ከ⮬⏤ᗘࡢ㐠ືࢆ⾜࠺ࡓࡵ࡟ࡣ⮬⏤ᗘᩘ࡜ྠࡌᩘࡢ࢔ࢡࢳ࢚࣮ࣗࢱࡀᚲせ࡟࡞ࡿ㸬ே㛫࡜ྠࡌ 7 ⮬⏤ᗘࡢ⭎ᶵᵓࢆᵓᡂࡍࡿ࡜㸪࢔ࢡࢳ࢚࣮ࣗࢱࢆ 7 ྎ┤ิ࡟ࡘ࡞ࡄᚲせࡀ࠶ࡿ㸬ࡍࡿ࡜ᡭඛࡢ࢔ࢡࢳ࢚࣮ࣗࢱࡀ⫪ഃࡢ࢔ࢡࢳ࢚࣮ࣗࢱࡢ㈇Ⲵ࡟࡞ࡿࡓࡵ㸪⫪ഃࡢ࢔ࢡࢳ࢚࣮ࣗࢱࡣࡑࡢ㉁㔞ࡀ㞷ࡔࡿࡲᘧ࡟ࡩࡃࢀ࠶ࡀࡾ㸪⭎ᶵᵓࡢ⥲㉁㔞ࡣྍᦙ㔜㔞࡜ẚ㍑ࡋ࡚኱ࡁ࡞ࡶࡢ࡟࡞ࡿ(3)㸬࠸ࡗࡱ࠺㸪ே㛫ࡢ⫪㛵⠇ࡸᡭ㤳㛵⠇ࡣࡑࢀࡒࢀࡀ 1 㛵⠇࡛ 3 ᪉ྥࡢᅇ㌿㐠ືࡀྍ⬟࡟࡞ࡗ࡚࠸ࡿ㸬ࡋࡓࡀࡗ࡚
3 㛵⠇࡛ 7 ⮬⏤ᗘࡢ㐠ືࡀ⾜࠼㸪ᢕᣢ࡛ࡁࡿ㉁㔞࡟ᑐࡋ࡚⭎ࡢ㉁㔞ࡣẚ㍑ⓗᑠࡉࡃ࡞ࡿ㸬ே㛫ࡢ⫪㛵⠇ࡢࡼ࠺࡞ືࡁࢆࡍࡿ࢔ࢡࢳ࢚࣮ࣗࢱࡢ㛤Ⓨࡣ᫇࠿ࡽࡢክ࡛࠶ࡾ㸪1980 ᖺ௦࡟ࡣࡍ࡛࡟ከࡃࡢ≉チࡀฟ㢪ࡉࢀ࡚࠸ࡿ(4)-(16)㸬
1 ྎ࡛ே㛫ࡢ⫪㛵⠇ࡢࡼ࠺࡞ືࡁࢆᐇ⌧ࡍࡿ࢔ࢡࢳ࢚࣮ࣗࢱࢆ⌫㠃࣮ࣔࢱ࡜࿧ࡪ㸬ᮏㄽᩥ࡛ࡣ㸪1980 ᖺ௦࠿ࡽ⌧ᅾ࡟⮳ࡿ⌫㠃࣮ࣔࢱ㛤ⓎࡢṔྐ࡜⌧≧ࢆࡲ࡜ࡵ㸪௒ᚋ*ཎ✏ཷ௜ 2014 ᖺ 5 ᭶ 12 ᪥
*1 ࠛ739-2116 ᮾᗈᓥᕷ㧗ᒇ࠺ࡵࡢ㎶ 1 ␒  E-Mail t.yano@hiro.kindai.ac.jpࡢᒎᮃ࡟ࡘ࠸࡚⪃ᐹࡍࡿ㸬㸬⌫㠃࣮ࣔࢱ㛤ⓎࡢṔྐ  ᖺ௦
 1983 ᖺ࡟᪥ᮏࣟ࣎ࢵࢺᏛ఍ࡢタ❧࡜⤒῭⏘ᴗ┬ࡢ኱ᆺࣉࣟࢪ࢙ࢡࢺࠕᴟ㝈సᴗࣟ࣎ࢵࢺࠖࡀࢫࢱ࣮ࢺࡋࡓࡇ࡜࡟ぢࡽࢀࡿࡼ࠺࡟㸪ࣟ࣎ࢵࢺࣈ࣮࣒ࡀ㉳ࡇࡗࡓᖺ௦࡛࠶ࡿ㸬ࣟ࣎ࢵࢺࡀᕤሙ࡟ࡣࡌࡵ࡚タ⨨ࡉࢀࡓ 1980 ᖺࡣࠕࣟ࣎ࢵࢺඖᖺࠖ࡜࿧ࡤࢀ࡚࠸ࡿ㸬 1980 ᖺ௦ࡣࣟ࣎ࢵࢺࡢ㛵⠇㥑ືࢆព㆑ࡋ࡚ከࡃࡢ≉チࡀฟ㢪ࡉࢀࡓ㸬▮㔝ࡣ㸪⤒῭⏘ᴗ┬ࡢ኱ᆺࣉࣟࢪ࢙ࢡࢺࠕ⮬ື⦭〇ࢩࢫࢸ࣒ࡢ◊✲ࠖ࡟࠾ࡅࡿ⮬ື⦭〇⏝⭎ᶵᵓࡢ◊✲࡛㸪࢔ࢡࢳ࢚࣮ࣗࢱࡀ┤ิ࡟㐃࡞ࡿ㠀ຠ⋡࡟Ẽ࡙ࡁ㸪ே㛫ࡢ⫪㛵⠇ࡢࡼ࠺࡞࢔ࢡࢳ࢚࣮ࣗࢱ࡜ࡋ࡚㸪ࠕ3ḟඖ࣮ࣔࢱࠖࢆࡣࡌࡵ࡜ࡍࡿ୍㐃ࡢ≉チࢆฟ㢪ࡋࡓ(17)-(21)㸬
 ୍㐃ࡢ≉チฟ㢪࡜๓ᚋࡋ࡚㸪1985 ᖺ㡭࠿ࡽࣟ࣎ࢵࢺ⭎ᶵᵓࡢ㛵⠇㥑ືࢆ┠ⓗ࡜ࡋࡓ⌫㠃㥑ື࣮ࣔࢱࡢ◊✲㛤Ⓨ஦౛ࡢⓎ⾲ࡀ┒ࢇ࡟⾜ࢃࢀࡿࡼ࠺࡟࡞ࡗࡓ(22)㸬
 NTT ࡢ㔠Ꮚࡽࡣ⌫㠃 3 ⮬⏤ᗘ DC ࢧ࣮࣮࣎ࣔࢱࢆヨసࡋࡓ(23)㸬ࢫࢸ࣮ࢱ࡟ 3 ⤌ࡢ㟁ᶵᏊᕳ⥺ࢆᕳࡁ㸪X㸪Y㸪Z
ࡢྛ㍈࿘ࡾࡢᅇ㌿ࢆไᚚࡍࡿ㟁ὶࢆ㔜ࡡྜࢃࡏࡿࡇ࡜࡟
ࡼࡾ 2 ⤌ࡢỌஂ☢▼࡛ᵓᡂࡉࢀࡿ࣮ࣟࢱࡢᅇ㌿㍈ࡢ᪉ྥࢆไᚚࡍࡿ㸬ືస⠊ᅖࡣ Z ㍈୰ᚰ࡟±15deg ࡢ෇㗹ෆ࡛㸪ฟຊ㍈࿘ࡾ࡟ 200rpm ࡛ᅇ㌿ࡋࡘࡘᅇ㌿㍈ࡢ᪉ྥỴࡵࡀ࡛ࡁࡿ㸬
Georgia ᕤ⛉኱Ꮫࡢ Lee ࡽࡣྍኚࣜࣛࢡࢱࣥࢫᆺ 3 ⮬⏤ᗘ⌫㠃࣮ࣔࢱࡢᵓ㐀ࢆᥦ᱌ࡋࡓ(24)㸬࣮ࣟࢱ࡟ከᩘࡢỌஂ☢▼㸪ࢫࢸ࣮ࢱ࡟ከᩘࡢ㟁ᶵᏊᕳ⥺ࢆᇙࡵ㎸ࡳ㸪ࡑࢀࡒࢀࡢỌஂ☢▼࡜㟁ᶵᏊᕳ⥺ࡢ࣌࢔࡟ാࡃຊࢆ㊥㞳ࡢ㛵－ 145 －ᩘ࡜ࡋ࡚࠶ࡽ࠿ࡌࡵ ᐃࡋ࡚࠾ࡁ㸪ຊࡢ⥲࿴ࡀᡤᮃࡢࢺࣝࢡ࡟࡞ࡿࡼ࠺࡟ࡑࢀࡒࢀࡢ㟁ᶵᏊᕳ⥺࡟ὶࡍ㟁ὶࢆィ⟬ࡍࡿ㸬᭱㐺タィࡢࡓࡵࡢࢩ࣑࣮ࣗࣞࢩࣙࣥࢆ⾜ࡗࡓ㸬 ࣋ࣝ◊ࡢ Benjamin ࡽࡣᑠᆺ 2 ⮬⏤ᗘ⌫㠃࣮ࣔࢱࢆ㛤Ⓨࡋࡓ(25)㸬୍⤌ࡢỌஂ☢▼ࡀసࡿ☢⏺୰࡟ྍື㒊ࢆタࡅ㸪ࡑࡢ 3 ㍈࿘ࡾ࡟ࢥ࢖ࣝࢆᕳ࠸࡚㸪ࡑࢀࡒࢀࡢࢥ࢖ࣝ࡟㟁ὶࢆὶࡍࡇ࡜࡟ࡼࡾᶆ‽఩⨨㸪ୖୗ㸪ᕥྑ࡟࣮ࣟࢱࢆᅇ
㌿ࡉࡏࡿ㸬⧞ࡾ㏉ࡋ఩⨨Ỵࡵ⢭ᗘࡀ 0.15deg ࡛㸪0.015kg
ࡢࡶࡢࢆ㥑ື࡛ࡁࡿ㸬ᮏయࡣ 0.16kg ࡛ CCD ࣓࢝ࣛࢆ୰ᚰ㒊࡟ᦚ㍕ࡋ࡚ࣟ࣎ࢵࢺ࢔࢖ࢆᵓᡂࡋࡓ㸬 ▮㔝ࡽࡣ⌫㠃ㄏᑟ࣮ࣔࢱ࠾ࡼࡧ⌫㠃ྠᮇ࣮ࣔࢱࢆヨసࡋࡓ(26)㸬3 ḟඖ✵㛫ࢆᙇࡿ᪉ྥ࡟ 3 ⤌ࡢ㟁ᶵᏊᕳ⥺ࢆ㓄⨨ࡋ㸪㟁ᶵᏊᕳ⥺࡟ὶࡍṇᘻἼ㟁ὶࡢ᣺ᖜ࡜఩┦ᕪࢆኚ࠼࡚ᅇ㌿☢⏺ࡢᅇ㌿㍈᪉ྥࢆไᚚࡍࡿࡇ࡜ࡀ≉ᚩ࡛㸪࣮ࣟࢱࢆㄏᑟᏊ࡟ࡍࢀࡤㄏᑟ࣮ࣔࢱ㸪Ọஂ☢▼࡟ࡍࢀࡤྠ
ᮇ࣮ࣔࢱࡀᵓᡂ࡛ࡁࡿ㸬᭱኱ࢺࣝࢡࡣ 0.2Nm ࡛㸪
600rpm࡛ᅇ㌿ࡋࡘࡘ Z ㍈୰ᚰ࡟±10deg ࡢ෇㗹ෆ࡛ᅇ㌿㍈ࡢ᪉ྥỴࡵࡀ࡛ࡁࡿ㸬▮㔝ࡽࡣࢫࢸࢵࣆࣥࢢ࣮ࣔࢱࢆ 3 ྎධࢀᏊ≧࡟⤌ࡳྜࢃࡏࡓ⌫㠃ࢫࢸࢵࣆࣥࢢ࣮ࣔࢱࡶヨసࡋ
ࡓ(27)㸬Z ㍈୰ᚰ࡟±45deg ࡢືస⠊ᅖࢆ᭷ࡋ㸪᭱኱ࢺࣝࢡ
0.093Nm㸪఩⨨Ỵࡵ⢭ᗘ 0.026deg ࡛௵ពࡢ᪉ྥ࡟ฟຊ㍈ࢆ㟼Ṇࡉࡏࡿࡇ࡜ࡀ࡛ࡁࡿ㸬ࣟ࣎ࢵࢺ࡟⤌ࡳ❧࡚సᴗࢆ⾜ࢃࡏࡿࡓࡵ࡟ࡣᡭ㤳ࢆࡸࢃࡽ࠿ࡃࡋ࡚㸪ࢃࡎ࠿࡞఩⨨Ỵࡵㄗᕪ࡛ᑐ㇟≀࡟㐣኱࡞ຊࡀຍࢃࡿࡢࢆ㜵ࡄᚲせࡀ࠶ࡿ㸬ࣟ࣎ࢵࢺࡢᕤሙ㐍ฟ࡟క࠸㸪㟁☢ຊ࡛ࢥࣥࣉࣛ࢖࢔ࣥࢫࢆᣢࡓࡏࡓࢥࣥࣉࣛ࢖࢔ࣥࢫᡭ㤳ᶵᵓࡢ◊✲ࡶάⓎ໬ࡋࡓ㸬ᮾி኱Ꮫࡢᵽཱྀࡽࡣ☢Ẽ㍈ཷ࡛ᾋᥭࡉࡏࡓ㍈ࢆ☢ຊ࡛㥑ືࡍࡿ㠀᥋ゐ 5 ⮬⏤ᗘᡭ㤳ᶵᵓ MEISTER ࢆ㛤Ⓨࡋࡓ(28)㸬MEISTER ࡣ୪㐍±0.6mm㸪ᅇ㌿±0.7deg ࡜⊃࠸ືస⠊ᅖ࡞ࡀࡽ఩⨨Ỵࡵ⢭ᗘ 1μm㸪ฟຊ 100N ࢆ㐩ᡂࡋࡓ㸬 IBM ࡢ Hollis ࡽࡣ㠀᥋ゐ 6 ⮬⏤ᗘᡭ㤳ᶵᵓࢆ㛤Ⓨࡋࡓ(29)㸬ᅛᐃᏊ㸪ྍືᏊ࡜ࡶ࡟ṇභゅᰕࡢᙧ≧࡛㸪ᅛᐃᏊࡢྛ㠃࡟㟁ᶵᏊ㸪ྍືᏊࡢྛ㠃࡟Ọஂ☢▼ࢆ㓄⨨ࡋ㸪6 ಶࡢ㟁ᶵᏊ࡟ὶࡍ㟁ὶࢆไᚚࡍࡿࡇ࡜࡛୪㐍 3 ⮬⏤ᗘ࡜ᅇ㌿ 3 ⮬⏤ᗘࡢ 6 ⮬⏤ᗘࢆᐇ⌧ࡋࡓ㸬ືస⠊ᅖࡣ⊃࠸ࡀ
1μm ௨ୗࡢ⢭ᗘ࡛఩⨨Ỵࡵࡀ࡛ࡁࡿ㸬 ௨ୖࡢ 2 ✀㢮ࡢᡭ㤳ᶵᵓࡣࣇ࢕࣮ࢻࣂࢵࢡࢤ࢖ࣥࢆኚ
࠼࡚ࢥࣥࣉࣛ࢖࢔ࣥࢫࢆኚ࠼ࡿࡇ࡜ࡀ࡛ࡁࡿࡢࡀ≉ᚩ࡛㸪࣌ࢢᤄධ࡞࡝ࡢసᴗ࡟㐺ࡋ࡚࠸ࡿ㸬ከ⮬⏤ᗘᡭ㤳ᶵᵓࡢ◊✲ࡣ୍ศ㔝ࢆᙧᡂࡋ㸪◊✲Ⓨ⾲ࡀάⓎ࡟⾜ࢃࢀࡓ(30)㸬
 ࡇࡢ᫬ᮇ㸪࣌ࢢᤄධࡢࡓࡵࡢྍኚࢥࣥࣉࣛ࢖࢔ࣥࢫᡭ㤳ᶵᵓࡢ◊✲ࡣᡂຌࢆ཰ࡵࡓࡀ㸪ࣟ࣎ࢵࢺ࣐ࢽࣆ࣮ࣗࣞࢱࡢ⫪㛵⠇ࡢࡼ࠺࡟㧗ࢺࣝࢡࢆᚲせ࡜ࡍࡿ⏝㏵࡛ࡣ㸯㍈࣮ࣔࢱࡢ⤌ࡳྜࢃࡏ࡟༉ᩛࡍࡿᛶ⬟ࢆ㐩ᡂࡍࡿࡇ࡜ࡀ࡛ࡁ࡞࠿ࡗࡓ㸬ࢥࣥࣉࣛ࢖࢔ࣥࢫᡭ㤳ᶵᵓࡣྍື⠊ᅖࡢᣑ኱ࡀᅔ㞴ࡔࡗࡓ㸬⌫㠃࢔ࢡࢳ࢚࣮ࣗࢱ㛤Ⓨࡢ㞴ࡋࡉࡀᨵࡵ࡚ㄆ㆑ࡉࢀ㸪1995 ᖺ㡭࠿ࡽ▮㔝ࡽ௨እࡢ◊✲Ⓨ⾲ࡣ࡯࡜ࢇ࡝⾜ࢃࢀ࡞ࡃ࡞ࡗࡓ㸬  ᖺ௦2000 ᖺ௦࡟ࡣ࠸ࡿ࡜㸪ィ⟬ᶵࡢ⬟ຊࡀ᱁ẁ࡟Ⰻࡃ࡞ࡾ㸪Georgia ᕤ⛉኱Ꮫࡢ Lee ࡽࡀᥦ᱌ࡋࡓ㸪㟁ᶵᏊᕳ⥺࡜Ọஂ☢▼ࡢࡑࢀࡒࢀ࡟ാࡃ྾ᘬຊࡢィ⟬ࢆᐇ᫬㛫࡛⾜ࡗ࡚࢔ࢡࢳ࢚࣮ࣗࢱࢆไᚚࡍࡿࡇ࡜ࡀྍ⬟࡟࡞ࡗࡓ㸬ࡇࡢࡇࢁ㸪ࣄ࣮࣐ࣗࣀ࢖ࢻᆺࣟ࣎ࢵࢺࡸ࣌ࢵࢺࣟ࣎ࢵࢺࡀⓏሙࡋ㸪ࣟ࣎ࢵࢺࡢᣦ㸪ᡭ㸪⭎㸪⭜㸪㤳㸪㊊㤳ࢆࡣࡌࡵ࡜ࡍࡿ㛵⠇ࡢ㥑ືࡸ┠ࡢ㥑ື⏝࡟㐺ࡋࡓ࢔ࢡࢳ࢚࣮ࣗࢱ࡜ࡋ࡚⌫㠃࢔ࢡࢳ࢚࣮ࣗࢱࡀ෌ࡧὀ┠ࢆᾎࡧࡿࡼ࠺࡟࡞ࡗࡓ㸬ࡉࡽ࡟㸪ෆど㙾ࡸᡭ⾡ᨭ᥼⿦⨨㸪ගᏛᶵჾࡢ㍑ṇࡸ࣮ࣞࢨ㏣ᑿࢩࢫࢸ࣒ᶵჾࡢྍື㒊ࡀே㛫ࡢ⫪㛵⠇ࡢࡼ࠺࡞⌫㠃ከ⮬⏤ᗘ㥑ືࢆせồࡍࡿࡼ࠺࡟࡞ࡾ㸪ࣟ࣎ࢵࢺࡢ㛵⠇㥑ື௨እࡢ⏝㏵ࢆ┠ⓗ࡜ࡋࡓ⌫㠃࢔ࢡࢳ࢚࣮ࣗࢱࡢ◊✲㛤Ⓨࡶ⾜ࢃࢀࡿࡼ࠺࡟࡞ࡗࡓ㸬ᅽ㟁⣲Ꮚࢆࡣࡌࡵ࡜ࡍࡿ㸪㟁☢࢔ࢡࢳ࢚࣮ࣗࢱ࡜␗࡞ࡿ㥑ືཎ⌮ࡢ࢔ࢡࢳ࢚࣮ࣗࢱࡢ◊✲㛤ⓎࡀάⓎ࡟࡞ࡾ㸪ࡇࢀࡽࡢ㥑ືཎ⌮ࢆ⏝࠸ࡓ⌫㠃࢔ࢡࢳ࢚࣮ࣗࢱࡢ◊✲㛤
ⓎࡶάⓎ࡟⾜ࢃࢀࡿࡼ࠺࡟࡞ࡗࡓ(31)㸬
(a) 㟁☢࢔ࢡࢳ࢚࣮ࣗࢱࡢ୺࡞◊✲㛤Ⓨ஦౛
Johns Hopkins ኱Ꮫࡢ Stain ࡽࡣእẆ࡟ 16 ಶࡢ㟁☢
▼㸪࣮ࣟࢱ࡟ 24 ಶࡢỌஂ☢▼ࢆ㓄⨨ࡋࡓ⌫㠃࣮ࣔࢱࢆヨసࡋࡓ(32)㸬Aahen ᕤ⛉኱Ꮫࡢ Kahlen ࡽࡣࢫࢸ࣮ࢱ࡟ 96ಶࡢ㟁☢▼㸪࣮ࣟࢱ࡟ 48 ⤌ࡢỌஂ☢▼ࢆ㓄⨨ࡋࡓ⌫㠃ࢫࢸࢵࣆࣥࢢ࣮ࣔࢱࢆヨసࡋ㸪
115rpm ࡛ฟຊࢺࣝࢡ 40Nm
ࢆᚓࡓ(33)㸬DSP ࣮࣎ࢻࢆ 96 ᯛ౑⏝ࡋ࡚࠸ࡿ㸬 Ṋⶶᕤᴗ኱Ꮫࡢᾏ⪁ཎࡽࡣ࣮ࣟࢱ࡟࢔࣑ࣝࢆሬᕸࡋࡓ⌫㠃ㄏᑟ࣮ࣔࢱࢆヨసࡋࡓ㸬Z ㍈࿘ࡾ࡟ 1000rpm㸪X,Y㍈࿘ࡾ࡟ 60rpm ࡛ᅇ㌿ࡋ㸪ᅇ㌿୰ࡢ㍈ࡢ᪉ྥỴࡵࢆ⾜ࡗࡓ(34)㸬Louvain ኱Ꮫࡢ Dehez ࡽࡶ࣮ࣟࢱࢆⷧ࠸⌫Ẇ࡜ࡋࡓ⌫㠃ㄏᑟ࣮ࣔࢱࢆヨసࡋࡓ㸬14000rpm ࡛ 0.15Nm ࡢࢺࣝࢡࢆᚓ࡚࠸ࡿ(35)㸬
 ▮㔝ࡽࡣ㸪༙ᘪ≧ࢫࢸࢵࣆࣥࢢ࣮ࣔࢱୖ࡟ᅇ㌿㍈ࡀ┤஺ࡍࡿ༙ᘪ≧ࢫࢸࢵࣆࣥࢢ࣮ࣔࢱࢆධࢀᏊ≧࡟ᦚ㍕ࡋࡓ⌫㠃ࢫࢸࢵࣆࣥࢢ࣮ࣔࢱ࠾ࡼࡧ AC ࢧ࣮࣮࣎ࣔࢱࢆヨసࡋࡓ(36)㸬ヨసࡋࡓ⌫㠃࣮ࣔࢱࡣ࠸ࡎࢀࡶ 75mm ゅ࡛఩⨨Ỵࡵ⢭ᗘ࠾ࡼࡧฟຊࢺࣝࢡࡣࡑࢀࡒࢀࢫࢸࢵࣆࣥࢢ࣮ࣔ
ࢱࡀ 0.03deg㸪0.03Nm㸪AC ࢧ࣮࣮࣎ࣔࢱࡀ 0.16deg㸪
0.008Nm ࡛࠶ࡿ㸬 (b) Ꮫ఍㸪◊✲ㅮ₇఍ 㟁☢ᆺ௨እࡢ㥑ືཎ⌮ࡢ࢔ࢡࢳ࢚࣮ࣗࢱࡸ㸪⌫㠃࢔ࢡࢳ࢚࣮ࣗࢱࡢ◊✲㛤ⓎࡢάⓎ໬ࢆཷࡅ࡚㸪ࡉࡲࡊࡲ࡞Ꮫ఍ࡀ࢔ࢡࢳ࢚࣮ࣗࢱࡢ≉㞟ࢆ⤌ࡴࡼ࠺࡟࡞ࡗࡓ(37)-(40)㸬
 ᪥ᮏᶵᲔᏛ఍ᶵ⣲₶⁥タィ㒊㛛࡛ࡣ㸪2004 ᖺ࡟㝔⏕ࡢ

－ 146 －ᩍ⛉᭩ྥࡅࡢ༢⾜ᮏࠕ࢔ࢡࢳ࢚࣮ࣗࢱᕤᏛࠖ(41)㸪2011 ᖺ࡟ᑓ㛛ᐙྥࡅࡢࠕ࢔ࢡࢳ࢚࣮ࣗࢱ◊✲㛤Ⓨࡢ᭱๓⥺ࠖ(42)ࢆฟ∧ࡋࡓ㸬 ᪥ᮏἜ✵ᅽᏛ఍ ⌧᪥ᮏࣇ࣮ࣝࢻࣃ࣮࣡ࢩࢫࢸ࣒Ꮫ఍࠿ࡽ᪥ᮏ㡢㡪Ꮫ఍ࡲ࡛ᵝࠎ࡞Ꮫ఍࡟ᩓࡽࡤࡗ࡚࠸ࡓ࢔ࢡࢳ࢚࣮ࣗࢱ◊✲⪅ࢆ⤖㞟ࡋ࡚㸪⛉Ꮫ◊✲㈝⿵ຓ㔠≉ᐃ㡿ᇦ◊✲ 438ࠕࣈࣞ࢖ࢡࢫ࣮ࣝࢆ⏕ࡳฟࡍḟୡ௦࢔ࢡࢳ࢚࣮ࣗࢱ◊✲ࠖ㡿ᇦ௦⾲⪅ᵽཱྀಇ㑻 ᮾ኱ (2004-2009)ࡀ
⾜ࢃࢀ㸪࢔ࢡࢳ࢚࣮ࣗࢱࡢ◊✲ࡀ୍Ẽ࡟ຍ㏿ࡋࡓ㸬◊✲ᡂᯝࡣ༢⾜ᮏ࡛ฟ∧ࡉࢀ࡚࠸ࡿ (43)㸬
㟁ẼᏛ఍⏘ᴗᛂ⏝㒊㛛࡛ࡶ 2002 ᖺ 4 ᭶࡟ࣜࢽ࢔ࢻࣛ࢖ࣈᢏ⾡ጤဨ఍ࡢചୗ࡟ከḟඖࢻࣛ࢖ࣈࢩࢫࢸ࣒ㄪᰝᑓ㛛ጤဨ఍ࢆタ⨨ࡋ㸪௨ᚋ⌧ᅾࡲ࡛ㄪᰝᑓ㛛ጤဨ఍࡟ࡼࡿㄪᰝ࣭ၨⵚάືࡀ⥅⥆ࡋ࡚⾜ࢃࢀ࡚࠸ࡿ㸬ࡍ࡛࡟⌫㠃࣮ࣔࢱ࡟㛵㐃ࡍࡿㄪᰝሗ࿌᭩ࡀ 4 ෉ห⾜ࡉࢀࡓ(44)-(47)㸬2015ᖺ࡟ࡣ㟁ẼᏛ఍ᢏ⾡ሗ࿌ࠕከ⮬⏤ᗘ᪂ୡ௦࢔ࢡࢳ࢚࣮ࣗࢱ ࡢ ᛶ ⬟ ホ ౯ ࠖ ࠾ ࡼ ࡧ “Multi-Degree-of-FreedomActuator” (Springer)ࡢฟ∧ࡀணᐃࡉࢀ࡚࠸ࡿ㸬ࡇࡢ㡭࠿ࡽᅜෆእࡢ◊✲ㅮ₇఍࡛ከ⮬⏤ᗘ࢔ࢡࢳ࢚࣮ࣗࢱ㛵㐃ࡢ࣮࢜࢞ࢼ࢖ࢬࢻࢭࢵࢩࣙࣥࡀ⤌ࡲࢀࡿࡼ࠺࡟
࡞ࡗ࡚ࡁࡓ㸬ᅜ㝿఍㆟࡛ࡣ ICRA, IROS, Speedam, LDIA, ICEM,ISEF ࡞࡝㸪ᅜෆ࡛ࡣ SEAD,MAGDA,㟁ẼᏛ఍㸪᪥ᮏᶵᲔᏛ఍㸪᪥ᮏ AEM Ꮫ఍,᪥ᮏࣟ࣎ࢵࢺᏛ఍࡞࡝࡛ከᵝ࡞௻⏬ࡀ⾜ࢃࢀ㸪ࡉࡲࡊࡲ࡞ᵓ㐀ࡢ࢔ࢡࢳ࢚࣮ࣗࢱࡢ◊✲Ⓨ⾲ࡀ⾜ࢃࢀ࡚࠸ࡿ(48)㸬
  ᖺ௦㛵ಀ⪅ࡢດຊ࡟ࡼࡾ⌫㠃࣮ࣔࢱࡀㄆ▱ࡉࢀࡿࡼ࠺࡟࡞ࡾ㸪ᖜᗈ࠸࢔ࣉࣜࢣ࣮ࢩࣙࣥ࡬ࡢᛂ⏝ࡀ⪃࠼ࡽࢀࡿࡼ࠺࡟࡞ࡗ࡚ࡁࡓ㸬⌫㠃࣮ࣔࢱࢆᒎ♧఍ࡸ◊✲ᡤබ㛤᪥࡟ฟᒎࡍࡿ࡜㸪ゼၥࡉࢀࡓ᪉࠿ࡽලయⓗ࡞ᛂ⏝ࡢᥦ᱌ࢆ࠸ࡓ
ࡔࡃᶵ఍ࡀቑ࠼࡚ࡁࡓ㸬ᢏ⾡┦ㄯࡸ◊✲ᐊぢᏛ㸪ㅮ₇౫㢗࡞࡝ࡢၥ࠸ྜࢃࡏࡸ㸪ලయⓗ࡞ᛂ⏝ࢆ┠ᣦࡋࡓඹྠ◊✲ࡢၥ࠸ྜࢃࡏࡶቑ࠼࡚ࡁࡓ㸬࢔ࣉࣜࢣ࣮ࢩࣙࣥࢆ᫂☜࡟タᐃࡋࡓ◊✲㛤Ⓨࡀ⾜ࢃࢀࡿࡼ࠺࡟࡞ࡗࡓ㸬(a) ⏘ᴗᛂ⏝▮㔝ࡽࡣ⌫㠃ࢫࢸࢵࣆࣥࢢ࣮ࣔࢱࢆ࢚࢘ࣁࢫࢸ࣮ࢪࡢṓᕪ㐠ື㥑ື࠾ࡼࡧ᳨ᰝ⿦⨨ࡢ࣮ࣞࢨග཯ᑕ࣑࣮ࣛࡢ㥑ື࡟౑⏝ࡍࡿ࢚࢘ࣁ඲⮬ື᳨ᰝ⿦⨨ࡢᥦ᱌ࢆ⾜ࡗࡓ(49)㸬
㟁Ẽ⮬ື㌴ࡢ㌴㍯ࢆ⌫㠃࣮ࣔࢱ࡛ᵓᡂࡍࡿ࡜㸪ษࡾ㏉
ࡋ᧯సࢆ⾜ࢃࡎ࡟┤᥋㌴యࢆᶓ᪉ྥ࡟⛣ືࡉࡏࡿࡇ࡜ࡸ㸪ࡑࡢሙ࡛㌴యࡢྥࡁࢆኚ࠼ࡿࡇ࡜ࡀ࡛ࡁࡿ㸬⌫య㌴㍯ࡢ
ᅇ㌿㍈ࢆഴࡅࡿࡔࡅ࡛㌴ࡢ㐍⾜᪉ྥࢆኚ࠼ࡿࡇ࡜ࡀ࡛ࡁ
ࡿࡢ࡛ࢫࢸ࢔ࣜࣥࢢᶵᵓࡀ୙せ࡟࡞ࡿ㸬ฟຊࡀᑠࡉࡃ࡚
ࡶ㸪ᑠᅇࡾࡀᚲせ࡞ࣇ࢛࣮ࢡࣜࣇࢺࡸ㸪ᆅᇦࢥ࣑࣮ࣗࢱ

࣮ࡢ⏝㏵࡟฼⏝࡛ࡁࡿ㸬
Georgia ᕤ⛉኱Ꮫࡢ Lee ࡽࡣ㟁Ẽ⮬ື㌴ࡢ㌴㍯㥑ືࢆ᝿ᐃࡋ࡚㸪㧗㏿࡛ᅇ㌿ࡍࡿ࢔ࢡࢳ࢚࣮ࣗࢱࡢᅇ㌿㍈᪉
ྥࢆ࣮࢜ࣉ࣮ࣥࣝࣉ࡛ไᚚࡍࡿ⌫㠃㌴㍯ࣜࣛࢡࢱࣥࢫࣔ
࣮ࢱࢆヨసࡋࡓ(50)㸬ᅇ㌿Ꮚ࡟ୖୗ 2 ẁ 16 ಶࡢ✺ᴟࢆ㸪ᅛᐃᏊ࡟ୖୗ 2 ẁ 20 ಶࡢ㟁ᶵᏊᕳ⥺ࢆ㓄⨨ࡋ㸪✺ᴟ࡜㟁ᶵᏊᕳ⥺ࡢࡑࢀࡒࢀ࡟ാࡃ㟁☢ຊࢆィ⟬ࡋ࡚࣮ࣔࢱࡢไ
ᚚࢆ⾜ࡗ࡚࠸ࡿ㸬Lee ࡽࡣᅇ㌿Ꮚࡢ✺ᴟࢆỌஂ☢▼࡟⨨ࡁ᥮࠼࡚㸪ᕤసᶵᲔ⏝ࡢ⌫㠃㥑ືࢫࢸ࣮ࢪࡶヨసࡋ࡚࠸ࡿ㸬タィ࠿ࡽᛶ⬟ ᐃࡲ࡛ࢆヲ⣽࡟ࡲ࡜ࡵࡓ༢⾜ᮏࢆฟ∧ࡋ࡚࠸ࡿ(51)㸬
Hanyang ኱Ꮫࡢ Cho ࡽࡶ㟁Ẽ⮬ື㌴⏝⌫㠃࣮ࣔࢱࢆヨసࡋ࡚࠸ࡿ㸬ࢫࢸ࣮ࢱࡢୖẁ࡜ୗẁ࡟ 60deg 㛫㝸࡛ 6ᴟࡢ㟁ᶵᏊᕳ⥺ࢆ㓄⨨ࡋ㸪࣮ࣟࢱࡣฟຊ㍈ᅇࡾ࡟ 90deg
㛫㝸࡛ N ᴟ࡜ S ᴟࡢỌஂ☢▼ࢆ஺஫࡟㓄⨨ࡋ࡚࠸ࡿ(52)㸬
Southern Scientific Centre of Russian Academy of
Science ࡢ Kochubey ࡽࡣ㟁Ẽ⮬ື㌴㌴㍯㥑ື⏝⌫㠃ㄏᑟ࣮ࣔࢱࡢ㥑ື≉ᛶࢆゎᯒࡋ࡚࠸ࡿ(53)㸬ࢫࢸ࣮ࢱෆᚄ
0.7m㸪࣮ࣟࢱእᚄ 0.6m ࡜ࡋ࡚㸪㌴㍈ᅇࡾ࡛ࡍ࡭ࡾ 0.05
ࡢ࡜ࡁ࡟ 1200Nm ࡢࢺࣝࢡࡀᚓࡽࢀࡿ࡜ࡋ࡚࠸ࡿ㸬ᮾ໭Ꮫ㝔኱Ꮫࡢ⇃㇂ࡣ㸪3 ྎࡢ࣮ࣔࢱ࡛⌫య㌴㍯ࢆᦶ᧿㥑ືࡍࡿᶵᵓࡢ㥑ື㒊ࢆࣜࢽ࢔ㄏᑟ࣮ࣔࢱࡢ㥑ື㒊࡟⨨ࡁ᥮࠼ࡓ⌫㠃ㄏᑟ࣮ࣔࢱࢆヨసࡋ࡚࠸ࡿ(54)㸬ྍືᏊࡢጼໃ᳨ฟ࡟࣐࢘ࢫࡢࢭࣥࢧࢆ 3 ಶ౑⏝ࡋ࡚࠸ࡿ㸬┤ᚄ
246mm ࡢྍືᏊࢆ 300rpm ࡛㥑ື࡛ࡁ㸪ฟຊࢺࣝࢡࡣ
4Nm ࡛࠶ࡿ㸬௵ពࡢ㍈ᅇࡾࡢᅇ㌿࡜௵ពࡢጼໃ࡟࠾ࡅࡿ㟼Ṇಖᣢࡀྍ⬟࡛࠶ࡿ㸬(b) ࣟ࣎ࢵࢺ኱㜰኱Ꮫࡢᖹ⏣ࡽࡣ㸪ࣟ࣎ࢵࢺࡢ㛵⠇㥑ື⏝⌫㠃࣮ࣔ
ࢱࡢ௙ᵝࢆ┤ᚄ 90mm, ฟຊࢺࣝࢡ 2Nm, ྍື⠊ᅖ
-25deg-25deg ࡜ᐃࡵ㸪ከᵝ࡞ᵓ㐀ࡢ⌫㠃࣮ࣔࢱࢆヨసࡋ࡚࠸ࡿ(55)㸬㟁☢ሙ࣭࣮ࣔࢩࣙࣥ㐃ᡂゎᯒ࡟ࡼࡿ᭱㐺タィࢆ⾜࠸㸪ヨసᐇ㦂࡛ࡑࡢタィ࡝࠾ࡾࡢ≉ᛶࡀᚓࡽࢀࡓࡇ࡜ࢆ☜࠿ࡵࡿᡭἲ࡟ࡼࡾ㛤Ⓨࢆຠ⋡ⓗ࡟⾜ࡗ࡚࠸ࡿ㸬(c) ࢭࣥࢧ
Darmstadt ኱Ꮫࢆ୰ᚰ࡜ࡍࡿࢢ࣮ࣝࣉࡀ NASA࡜ࡢඹྠ㛤Ⓨ࡟ࡼࡾ㸪࣮࣎࢖ࣥࢢ 747 ࡟ᦚ㍕ࡋᡂᒙᅪ࡛ほ ࡍࡿ኱ᆺ㉥እ⥺ᮃ㐲㙾ࡢග㍈ࢆ 3 ᪉ྥ࡟ࢺࣛࢵ࢟ࣥࢢࡍࡿ⌫㠃࣮ࣔࢱࢆ㛤Ⓨࡋ࡚࠸ࡿ(56).
▮㔝ࡽࡣ㠀᥋ゐ୕ḟඖᗙᶆィ ⿦⨨࡟⏝࠸ࡿ࣮ࣞࢨ㏣ᑿࢩࢫࢸ࣒ࡢ࣮ࣞࢨග཯ᑕ࣑࣮ࣛࡢ⌫㠃㥑ື࡟⌫㠃࢔ࢡࢳ࢚࣮ࣗࢱࢆ᥇⏝ࡋ㸪ᑐ㇟≀యࢆ㏣ᑿࡋ࡞ࡀࡽ࣑࣮ࣛ୰
ᚰ࠿ࡽᑐ㇟≀యࡲ࡛ࡢ㊥㞳ࢆࢧࣈ࣑ࢡࣟࣥࡢ⢭ᗘ࡛ ᐃࡍࡿࡇ࡜࡟ᡂຌࡋ࡚࠸ࡿ(57).
(d) Ᏹᐂ
Swiss Center for Electronics and Microtechnology ♫－ 147 －ࡢ Onillon ࡽࡣᏱᐂ⯪ࡢጼໃไᚚ⏝ࣜ࢔ࢡࢩࣙࣥࢫࣇ࢙࢔ࢆ㛤Ⓨࡋࡓ(58)㸬㉁㔞 14.1kg㸪ධຊ㟁ຊ 70w ࡛᭱㧗ᅇ㌿ᩘ 6000rpm㸪᭱኱ࢺࣝࢡ 6Nm㸪ゅ㐠ື㔞 27Nms ࡛࠶ࡿ.
(e) ་⒪⚟♴៞ᛂ኱Ꮫࡢ๓㔝ࡣ㸪ඹ᣺᣺ືࡢ␗࡞ࡿᅽ㟁⣲Ꮚࢆ⤌ࡳྜࢃࡏ࡚࣮ࣟࢱࢆ 3 ㍈࿘ࡾ࡟ᅇ㌿ࡉࡏࡿᑠᆺ⌫㠃࢔ࢡࢳ࢚࣮ࣗࢱࢆヨసࡋ㸪ࢢࣜࢵࣃࡢ௜ࡅ᰿ࡀ⌫㠃㐠ືࡍࡿ⬟ື㖀Ꮚࡢ㥑ື࡟ᛂ⏝ࡋࡓ(59)㸬
ᮾி㎰ᕤ኱ࡢ㐲ᒣࡣ㉸㡢Ἴ࢔ࢡࢳ࢚࣮ࣗࢱࡢಖᣢ࣭㥑ືࢺࣝࢡࡢ኱ࡁࡉࢆ⏕࠿ࡋ࡚ࣟ࣎ࢵࢺࡢ㛵⠇㥑ື⏝㉸㡢Ἴ⌫㠃࢔ࢡࢳ࢚࣮ࣗࢱࢆ㛤Ⓨࡋࡓ(60)㸬
ᮾி㎰ᕤ኱ࡢ᳃ᓥࡽࡣᚰ➽⣽⬊ࡢቑṪࢆࢥࣥࢺ࣮ࣟࣝࡍࡿࡇ࡜࡟ࡼࡾ⮬ᅾࡢᙧ≧࡟సᡂྍ⬟࡞ᢏ⾡ࢆ⏝࠸࡚㸪ࣂ࢖࢜࢔ࢡࢳ࢚࣮ࣗࢱᆺከ⮬⏤ᗘ࢔ࢡࢳ࢚࣮ࣗࢱࢆヨసࡋࡓ(61)㸬໬Ꮫ࢚ࢿࣝࢠ࣮ࡔࡅ࡛㥑ືࡋ㸪࠿ࡘ⣽⬊⮬యࢆ㒊ရ࡜ࡋ࡚࠸ࡿࡢ࡛ᚤᑠᵓ㐀≀ࡸὶయࡢ㥑ື࡜࠸ࡗࡓຊᏛⓗᶵ⬟ࡢ㞟✚໬ࡀྍ⬟࡟࡞ࡿ㸬ࡇࢀࡽࡢ≉㛗ࢆά࠿ࡋࡓேᕤ⮚ჾࡢᐇ⌧ࢆ┠ᣦࡋ࡚࠾ࡾ㸪ୡ⏺ึࡢᚰ➽⣽⬊㥑ື࣐࢖ࢡ࣏ࣟࣥࣉࡢヨస࡟ᡂຌࡋ࡚࠸ࡿ㸬ᒸᒣ኱Ꮫࡢ⬥ඖࡽࡣ㸪኱⭠ෆど㙾ࢆ⬟ື㥑ືࡍࡿከ⮬⏤ᗘࣛࣂ࣮࢔ࢡࢳ࢚࣮ࣗࢱࢆ㛤Ⓨࡋ࡚࠸ࡿ(62).
ᒸᒣ኱Ꮫࡢ஬⚟ࡽࡣ㸪⌫㠃࣮ࣔࢱࡢྍືᏊࢆ୰✵ᵓ㐀࡟ࡋࡓ᧠ᢾᶵࢆヨసࡋࡓ(63)㸬
(f) ࣐࢖ࢡࣟ࢔ࢡࢳ࢚࣮ࣗࢱᑠᆺ࢔ࢡࢳ࢚࣮ࣗࢱࡢศ㔝࡛ࡣ㸪㟁☢ᆺ௨እࡢ㥑ືཎ⌮࡟ࡼࡿ⌫㠃࢔ࢡࢳ࢚࣮ࣗࢱࡀάⓎ࡟◊✲ࡉࢀ࡚࠸ࡿ㸬㉸㡢Ἴ⌫㠃࣮ࣔࢱ(64)(65),☢ṍ⌫㠃࢔ࢡࢳ࢚࣮ࣗࢱ(66)㸪ᶵ⬟ᛶὶయከ⮬⏤ᗘ࢔ࢡࢳ࢚࣮ࣗࢱ(67)࡞࡝ࡀᖜᗈࡃ◊✲ࡉࢀ࡚࠸ࡿ㸬㸬⌫㠃࣮ࣔࢱ◊✲ࡢᑗ᮶ᒎ㛤 ᮏ⠇࡛ࡣ㸪▮㔝ࡽࡢ◊✲ࡢ⌧≧ሗ࿌࡜┠ⓗ࡟ࡘ࠸࡚㏙࡭㸪⌫㠃࣮ࣔࢱࡢᑗ᮶ࢆᒎᮃࡍࡿ㸬ࡣࡌࡵ࡟㸪▮㔝ࡀᥦ᱌ࡋࡓ㸪ከ㠃య࡟ࡶ࡜࡙ࡃ⌫㠃࣮ࣔࢱࡢᵓ㐀࡜㥑ືཎ⌮ࢆ⡆₩࡟㏙࡭ࡿ(68) 㸬 ከ㠃య࡟ࡶ࡜࡙ࡃ⌫㠃࣮ࣔࢱᅗ 1(a) ࡟ᅇ㌿࣮ࣔࢱࡢᇶᮏ࡜࡞ࡿᵓ㐀ࢆ♧ࡍ㸬ᅇ㌿Ꮚ࡟Ọஂ☢▼ࢆ N ᴟ࡜ S ᴟࡀ㞄ࡾ࠶࠺ࡼ࠺࡟ 4 ಶ㸪ᅛᐃᏊ࡟㟁ᶵᏊᕳ⥺ࢆ 3 ಶ㓄⨨ࡍࡿ㸬㟁ὶࢆὶࡍ㟁ᶵᏊᕳ⥺ࢆษࡾ᭰࠼ࡿࡇ࡜࡟ࡼࡾᅇ㌿Ꮚࢆᅇ㌿ࡉࡏࡿࡇ࡜ࡀ࡛ࡁࡿ㸬ᅇ㌿Ꮚࡢ 4 ಶࡢỌஂ☢▼㸪ᅛᐃᏊࡢ 3 ಶࡢ㟁ᶵᏊᕳ⥺ࡣ㸪ࡑࢀࡒࢀṇ᪉ᙧ࡜ṇ୕ゅᙧࡢ㡬Ⅼ࡟఩⨨ࡋ࡚࠸ࡿࡢ࡛ࡇ
ࢀࡽࢆᅗ 1(b)ࡢࡼ࠺࡟⡆␎໬ࡍࡿ㸬ᅗ 1(b) ࢆ୕ḟඖ✵㛫࡟ᣑᙇࡍࡿ࡜ྍືᏊࡣṇභ㠃య㸪ᅛᐃᏊࡣṇඵ㠃య࡜࡞ࡾᅗ 2 ࢆᚓࡿ㸬(a) ᅇ㌿Ꮚ࡜ᅛᐃᏊ     (b) ᶍᘧᅗᅗ 1. ᅇ㌿࣮ࣔࢱࡢᇶᮏᵓ㐀

ᅗ 2. ⌫㠃࣮ࣔࢱࡢᶍᘧᅗ
ᅗ 2 ࢆ AXIS1 ᪉ྥ࠿ࡽぢࡓᢞᙳᅗࡶ AXIS2 ᪉ྥ࠿ࡽぢࡓᢞᙳᅗࡶᅗ 1(b)࡜ྠࡌ࡟࡞ࡿ㸬ࡋࡓࡀࡗ࡚㸪1 ㍈ࣔ
࣮ࢱࡢไᚚ㟁ὶࢆᅗ 2 ࡢᅛᐃᏊࡢ㟁ᶵᏊᕳ⥺ 1,2,3 ࡟㡰␒࡟ὶࡍ࡜ྍືᏊࡀ AXIS1 ᅇࡾ࡟㸪㟁ᶵᏊᕳ⥺ 2,3,4 ࡟㡰␒࡟ὶࡍ࡜ྍືᏊࡀ AXIS2 ᅇࡾ࡟ᅇ㌿ࡍࡿ㸬ᢞᙳᅗࡀᅗ 1(b)࡜ྠࡌ࡟࡞ࡿ㍈ࡣࡶ࠺୍ࡘ࠶ࡿ㸬ࡋࡓࡀࡗ࡚㸪ࡇࡢ࣮ࣔࢱࡣྍືᏊࢆ 3 ᪉ྥࡢ㍈ᅇࡾ࡟ᅇ㌿ࡉࡏࡿࡇ࡜ࡀ࡛ࡁࡿ㸬㟁ᶵᏊᕳ⥺ 1,2,3 ࡜ 4,5,6 ࡟ྠ᫬࡟㟁ὶࢆὶࡏࡤฟຊࢺ
ࣝࢡࡀ 2 ಸ࡟࡞ࡿ㸬ࢻࣛ࢖ࣂࡣ㏻ᖖࡢᅇ㌿࣮ࣔࢱࡢࢻࣛ
࢖ࣂ࡟㟁ᶵᏊᕳ⥺ࡢ⤌ྜࡏࢆษࡾ᭰࠼ࡿࢫ࢖ࢵࢳࢆ᥋⥆ࡍࢀࡤⰋ࠸㸬3 ㍈ᅇࡾࡢ㥑ື≉ᛶࡣྠ୍࡟࡞ࡿ㸬PID ไᚚࡸ࣐࢖ࢡࣟࢫࢸࢵࣉ㥑ື࡞࡝㏻ᖖࡢ࣮ࣔࢱࡢไᚚࡀࡑ
ࡢࡲࡲ౑⏝࡛ࡁࡿ㸬࢚࢔ࢠࣕࢵࣉࡸ☢㊰ᙧᡂࡀ 1 ㍈࣮ࣔ
ࢱ࡜ྠࡌ࡞ࡽฟຊ≉ᛶࡣ 1 ㍈࣮ࣔࢱ࡜ྠࡌ࡟࡞ࡿ㸬ṇከ㠃యࡣ 5 ✀㢮㸪༙ṇከ㠃యࡣኚᙧከ㠃యࢆ㝖ࡃ࡜
11 ✀㢮Ꮡᅾࡍࡿ㸬ࡇࢀࡽࡢከ㠃యࡢ⤌ࡳྜࢃࡏ࡛ࡶ⌫㠃࣮ࣔࢱࢆᵓᡂ࡛ࡁࡿ㸬▮㔝ࡽࡣ㸪ྍືᏊࡀษ㡬ඵ㠃య㸪ᅛᐃᏊࡀṇ༑஧㠃యࢆᇶᮏ࡜ࡍࡿ⌫㠃࣮ࣔࢱࡢヨస࣭ᐇ㦂ࡶ⾜ࡗ࡚࠸ࡿ(69)㸬
 ከ㠃య࡟ࡶ࡜࡙ࡃ⌫㠃㥑ືࢩࢫࢸ࣒⌫㠃࣮ࣔࢱࡢ㥑ືཎ⌮ࡢᐇドᐇ㦂ࡣẚ㍑ⓗ⡆༢࡟⾜࠼ࡿ㸬࠸ࡗࡱ࠺㸪ᐇ⏝ⓗ࡞⌫㠃࣮ࣔࢱࢆタィ࣭ヨసࡍࡿ࡟ࡣ㸪௨ୗࡢせ⣲ᢏ⾡ࡢ㛤Ⓨࡀᚲせ࡟࡞ࡿ㸬－ 148 －

(a) タィ࣭ゎᯒࢶ࣮ࣝ㟁☢ሙ㺃࣮ࣔࢩࣙࣥ㐃ᡂゎᯒࢯࣇࢺ࢚࢘࢔ࡢᛶ⬟ࡀྥୖࡋ㸪㏻ᖖࡢ࣮ࣔࢱࡣ୚࠼ࡽࢀࡓ௙ᵝ࡟ᑐࡋ࡚ࢩ࣑࣮ࣗࣞࢩ࡛ࣙࣥ᭱㐺タィࡀ⾜࠼ࡿ㸬⌫㠃࣮ࣔࢱࡢ᭱㐺タィ࡟
ࡣ 3 ḟඖ✵㛫࡟࠾ࡅࡿ㟁☢ሙ㺃࣮ࣔࢩࣙࣥ㐃ᡂゎᯒࡀᚲせ࡛࠶ࡿࡀ㸪⌧≧࡛ࡣࡲࡔ㞴ࡋ࠸㸬(b) ᨭᣢᶵᵓ
1 ㍈࣮ࣔࢱࡢࡼ࠺࡟ฟຊ㍈ࢆ࣋࢔ࣜࣥࢢ࡛ࡀࡗࡕࡾᅛ
ᐃࡍࡿࡇ࡜ࡀ࡛ࡁ࡞࠸ࡢ࡛㸪⌫㠃࣮ࣔࢱ࡟㐺ࡋࡓྍືᏊࡢᨭᣢᶵᵓࡢ㛤Ⓨࡀᚲせ࡟࡞ࡿ㸬ྍືᏊࢆ⌫య࡟ࡋ࡚ 3ಶࡢ⌫య࣋࢔ࣜࣥࢢ࡛ᨭᣢࡍࡿ᪉ἲ㸪✵Ẽᅽ㸦ືᅽ㸪㟼ᅽ㸧ࡸ☢Ẽᾋୖ࡟ࡼࡿᨭᣢ㸪ࢪࣥࣂࣝᶵᵓ࡟ࡼࡿᨭᣢ㸪ࡍ࡭ࡾ㠃ࢆపᦶ᧿࡟ࡋࡓࡍ࡭ࡾ㠃ᨭᣢ㸪㌿ࡀࡾ㍈ཷࡀᥦ᱌ࡉࢀ࡚࠸ࡿ㸬(c) ࢭࣥࢧ
ྍືᏊࡢጼໃࡸฟຊࢺࣝࢡࢆ᳨ฟࡍࡿ㸬1 ㍈࣮ࣔࢱ⏝ࡢ࢚ࣥࢥ࣮ࢲࡸࢺࣝࢡࢭࣥࢧࡣ㸪ࢪࣥࣂࣝᨭᣢࡢሙྜࡢࡳ౑⏝࡛ࡁࡿ㸬࣐࢘ࢫࡢ᳨ฟ㒊ࢆ⏝࠸ࡓጼໃࢭࣥࢧ㸪
CCD࣓࢝ࣛࢆ⏝࠸ࡓጼໃࢭࣥࢧ㸪࣮࣍ࣝ⣲Ꮚࢆ⏝࠸ࡓጼໃࢭࣥࢧ㸪㟁ᶵᏊ㟁ὶࢆ฼⏝ࡋࡓጼໃࢭࣥࢧࡀᥦ᱌ࡉࢀ࡚࠸
ࡿ㸬ࢺࣝࢡࢭࣥࢧࡢᥦ᱌ࡣ⾜ࢃࢀ࡚࠸࡞࠸㸬(d) ไᚚ
ࢭࣥࢧಙྕࢆ⏝࠸ࡓࣇ࢕࣮ࢻࣂࢵࢡไᚚࢆ⾜࠺࡟ࡣ㸪1ḟඖࡢไᚚ⌮ㄽࢆ 3 ḟඖ✵㛫࡟ᣑᙇࡍࡿᚲせࡀ࠶ࡿ㸬(e) ῶ㏿ᶵ
1 ㍈࣮ࣔࢱࢆࣟ࣎ࢵࢺࡢ㛵⠇㥑ື࡞࡝㧗ࢺࣝࢡࢆᚲせ࡜ࡍࡿ⏝㏵࡟⏝࠸ࡿ࡟ࡣ㧗ῶ㏿ẚࡢῶ㏿ᶵࡀᚲ㡲࡛࠶ࡿ㸬⌫㠃࣮ࣔࢱࡣ 1 ㍈࣮ࣔࢱࡢ≉ᛶࢆ㉸࠼ࡽࢀ࡞࠸௨ୖ㸪㧗ࢺࣝࢡࢆᚲせ࡜ࡍࡿ⏝㏵࡛ࡣῶ㏿ᶵࡢ㛤Ⓨࡀᚲ㡲࡟࡞ࡿ㸬(f) ホ౯⿦⨨ጼໃไᚚㄗᕪ㸪㏿ᗘࢺࣝࢡ≉ᛶ࡞࡝ 1 ㍈࣮ࣔࢱࡢ≉ᛶ࡟ຍ࠼࡚㥑ື᪉ྥࡢᖸ΅ᗘ࡞࡝㸪ከ⮬⏤ᗘࢩࢫࢸ࣒≉᭷ࡢホ౯㡯┠ࢆ ᐃࡍࡿ⿦⨨ࡀᚲ㡲࡟࡞ࡿ㸬▮㔝ࡽࡣ㸪ࡇࢀࡽせ⣲ᢏ⾡ࡢ㛤Ⓨ࡟ࡶከ㠃యᗄఱᏛࡀᛂ⏝࡛ࡁࡿࡇ࡜࡟╔┠ࡋ㸪⌫㠃㥑ືࢩࢫࢸ࣒ࡢ◊✲㛤Ⓨ
ࢆ㏻ࡋ࡚ከ㠃యᗄఱᏛࢆᇶ♏࡜ࡋࡓ᪂ࡓ࡞Ꮫၥయ⣔ࢆᵓ⠏ࡍࡿࡇ࡜㸪࠾ࡼࡧᚑ᮶ࡢ࣮ࣔࢱ⌮ㄽࢆ 3 ḟඖ✵㛫࡟ᣑᙇࡋ࡚య⣔໬ࡍࡿࡇ࡜ࢆ┠ⓗ࡟◊✲ࢆ㐍ࡵ࡚࠸ࡿ㸬ከ㠃యᗄఱᏛ࡜⌫㠃㥑ືࢩࢫࢸ࣒ࡢ㛵ಀࢆᅗ 3 ࡟♧ࡍ㸬 ከ㠃య࡟ࡶ࡜࡙ࡃ⌫㠃㥑ືࢩࢫࢸ࣒ࡢ㛤Ⓨ≧ἣ▮㔝ࡽࡀ㛤Ⓨࡋ࡚ࡁࡓ⌫㠃࣮ࣔࢱࡢㄽᩥࢆࡲ࡜ࡵ㸪⌫㠃࣮ࣔࢱ⌮ㄽࡢయ⣔໬ࢆ࠾ࡇ࡞ࡗࡓ(70)㸬
タィ࣭㛤Ⓨࢶ࣮ࣝ࡟㟁☢ሙ㺃࣮ࣔࢩࣙࣥ㐃ᡂゎᯒࢯࣇࢺ࢚࢘࢔ MAGNET7 ࢆ᥇⏝ࡋ㸪ࢩ࣑࣮ࣗࣞࢩࣙࣥ⤖ᯝ࡜ᐇ㦂⤖ᯝࡢㄗᕪࡀ⏕ࡌࡿせᅉࢆ㏣ồࡋ࡚࠸ࡿ(71)㸬
ᨭᣢᶵᵓࡣ✵Ẽᾋୖ㸪☢Ẽᾋୖ㸪⌫య࣋࢔ࣜࣥࢢࡢヨసᐇ㦂ࢆ⾜ࡗࡓ⤖ᯝ㸪ྍືᏊࡢࣇ࢕࣮ࢻࣂࢵࢡไᚚࢆ⾜࠺ሙྜ㸪ᨭᣢᶵᵓ࡜ྍືᏊࡢ㛫࡟ᦶ᧿ࡀ࠶ࡿ᪉ࡀ᪩ࡃᏳ
ᐃࡍࡿࡓࡵ㸪⌧≧࡛ࡣ⌫య࣋࢔ࣜࣥࢢࢆ౑⏝ࡋ࡚㥑ືᐇ㦂ࢆ⾜ࡗ࡚࠸ࡿ㸬ࢭࣥࢧࡣ࣐࢘ࢫࢆ 2 ྎ౑⏝ࡋࡓྍືᏊࡢጼໃࢭࣥࢧ(72)㸪
࣮࣍ࣝ⣲Ꮚࢆ౑⏝ࡋࡓ⤯ᑐጼໃࢭࣥࢧ(73)㸪⏬ീฎ⌮࡟ࡼࡿࢭࣥࢧ(74)ࢆヨసࡋࡓ㸬
ヨసࡋࡓࢭࣥࢧࢆ౑⏝ࡋ࡚ࣇ࢕࣮ࢻࣂࢵࢡไᚚ࡟ࡼࡿྍືᏊࡢ఩⨨Ỵࡵᐇ㦂ࢆ⾜ࡗ࡚࠸ࡿ(75)㸬ྍືᏊࡢ┠ᶆጼໃ࡜⌧ᅾጼໃࡢㄗᕪࢆ⏝࠸࡚ 3 ḟඖ࡟ᣑᙇࡋࡓ PID ไᚚࢆ⾜࠸㸪ྍືᏊࡢ 3 ㍈ᅇࡾࡢጼໃไᚚ࡟ᡂຌࡋ࡚࠸ࡿ㸬ῶ㏿ᶵࡣ㸪ྍືᏊࡢᅇ㌿ࢆ 3 ಶࡢᑠ⌫ࢆ௓ࡋ࡚ฟຊ⌫࡟ఏ㐩ࡍࡿ⿦⨨ࢆヨసࡋ࡚㸪ྍືᏊࡢᅇ㌿᪉ྥ࡜ฟຊࢺࣝࢡ࡟ᑐࡍࡿฟຊ⌫ࡢᅇ㌿᪉ྥ࡜ฟຊࢺࣝࢡࡢ㛵ಀࢆᐃࡋ࡚࠸ࡿ㸬ᮏᖺᗘࡣ⌫㠃㥑ືࢩࢫࢸ࣒ࡢホ౯⿦⨨ࢆ⤌ࡳୖࡆࡿணᐃ࡟࡞ࡗ࡚࠸ࡿ㸬ᅗ 3. ⛉◊㈝ᇶ┙ A 24246032ࠕከ㠃యᗄఱᏛ࡟ࡶ࡜࡙ࡃ⌫㠃㥑ືࢩࢫࢸ࣒ࡢ◊✲ࠖ(2012.4-2016.3)ࡢᴫᛕ

－ 149 － ᑗ᮶ᒎᮃ1 ⮬⏤ᗘ࣮ࣔࢱ࡜ྠ➼ࡢᛶ⬟ࡢ⌫㠃࣮ࣔࢱࡣ㸪1 ⮬⏤ᗘ࣮ࣔࢱ࡜ẚ㍑ࡋ࡚௨ୗࡢ≉㛗ࢆ᭷ࡋ࡚࠸ࡿ㸬(a) ከ⮬⏤ᗘࢩࢫࢸ࣒ࢆᑠᆺ㺃㍍㔞໬ࡍࡿ(b) ከ⮬⏤ᗘࢩࢫࢸ࣒ࡢไᚚࢆᐜ᫆࡟ࡍࡿ(c) ఩⨨Ỵࡵㄗᕪࡀᑡ࡞ࡃ㸪㉸㧗⢭ᗘ໬ࡀྍ⬟(d) 㝈ࡽࢀࡓ✵㛫࡛ከ⮬⏤ᗘࢆࢲ࢖ࣞࢡࢺ㥑ື࡛ࡁࡿ(e) ከ⮬⏤ᗘࢩࢫࢸ࣒ࡢ࣐࢖ࢡࣟ໬ࡀᐜ᫆
⌫㠃࣮ࣔࢱࡣཎ⌮ⓗ࡟ࡣ 1 ⮬⏤ᗘ࣮ࣔࢱ࡜ྠ➼ࡢᛶ⬟ࡀฟࡿࡀ㸪ᕤస⢭ᗘࡸ⤌ࡳ௜ࡅ⢭ᗘࢆ㧗ࡵࡿࡢࡀᅔ㞴࡛㸪☢Ẽᅇ㊰ࡢᵓᡂࡶ㞴ࡋࡃ㸪ヨసရࡢฟຊࡣ୍᱆ᑡ࡞࠸ࡢࡀ⌧≧࡛࠶ࡿ㸬
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࡛ࡣ 3D ࣉࣜࣥࢱࡀὀ┠ࡉࢀ㸪ᅜᐙࣉࣟࢪ࢙ࢡࢺࡀ㉮ࡾጞࡵࡓ㸬་⒪ᶵჾ㛤ⓎࡶάⓎ࡟࡞ࡗ࡚ࡁ࡚࠸ࡿ㸬ࡇࢀࡽࡢᶵჾࡣ࠸ࡎࢀࡶ⌫㠃࣮ࣔࢱࡢ᭷ຊ࡞ᛂ⏝ඛ࡛࠶ࡿ㸬ࡶࡕࢁࢇᐙ㟁〇ရ㸪⮬ື㌴㛵㐃ᶵჾ㸪ᕤసᶵᲔ㸪Ᏹᐂ㛵㐃ᶵჾࡶ᭷ຊ࡞ᛂ⏝ඛ࡛࠶ࡿ㸬⎔ቃศ㔝࡛ࡣ 2015 ᖺึ㢌࡟ணᐃࡉࢀ࡚࠸ࡿ IPCC ࡢ➨ 5 ḟ᭱⤊ሗ࿌᭩Ⓨ⾲ࢆᚅࡓࡎ࡟㸪IPCC ࠿ࡽᆅ⌫ ᬮ໬࢞ࢫࡢ᤼ฟ㔞ࡢ኱ᖜ࡞๐ῶ࡜ᅇ཰ࢆ┤ࡕ࡟⾜ࢃ࡞࠸࡜ᮍ᮶ࡀቯ⁛ⓗ࡟࡞ࡿ࡜࠸࠺㠀ᖖ࡟ཝࡋ࠸ᑗ᮶ண ࡜㆙࿌ࡀ࡞ࡉࢀ࡚࠸ࡿ㸬࣮ࣔࢱࢆ」ᩘྎ౑⏝ࡋ࡚࠸ࡿࢩࢫࢸ࣒ࡢ࡯࡜ࢇ࡝ࡣ࣮ࣔࢱࢆ⌫㠃࣮ࣔࢱ࡟⨨ࡁ᥮࠼ࡿࡇ࡜ࡀྍ⬟࡛࠶ࡿ㸬᪥ᮏࡢ㟁ຊᾘ㈝ࡢ 50㸣௨ୖࢆ࣮ࣔࢱࡀᾘ㈝ࡋ࡚࠸ࡿ㸬⌫㠃࣮ࣔࢱࡀᬑཬࡍࢀࡤ㸪ከ⮬⏤ᗘࢩࢫࢸ࣒࡟౑⏝ࡍࡿ࣮ࣔࢱࡢྎᩘࡀ኱ᖜ࡟ῶࡾ㸪ᆅ⌫ ᬮ໬࢞ࢫ๐ῶ࡟㈉⊩ࡍࡿ㸬ࡇࡢࡼ࠺࡟㸪1 ⮬⏤ᗘ࣮ࣔࢱ࡜ྠ➼ࡢᛶ⬟ࡢ⌫㠃㥑ືࢩࢫࢸ࣒ࡢ㛤Ⓨࡀᙉࡃᮃࡲࢀ࡚࠸ࡿ㸬ᨭᣢᶵᵓࢆࡣࡌࡵ࡜ࡍࡿせ⣲ᢏ⾡ࡢ㛤Ⓨࡣ㡰ㄪ࡟㐍ࢇ࡛࠸ࡿ㸬ᅽ㟁㸪☢ṍ㸪ᶵ⬟ᛶὶయ࡞࡝ࡢ᪂ཎ⌮࢔ࢡࢳ࢚࣮ࣗࢱࡢ㛤ⓎࡶάⓎ࡟⾜ࢃࢀ࡚࠾ࡾ㸪⌫㠃㥑ື࡟ᣑᙇྍ⬟࡛࠶ࡿ㸬୍้ࡶ᪩࠸ᐇ⏝໬ࢆ┠ᣦࡋ࡚ࡦࡁࡘ࡙ࡁ㧗ᛶ⬟⌫㠃࣮ࣔࢱࡢ㛤Ⓨࢆ㐍ࡵ࡚࠸ࡃᡤᏑ࡛࠶ࡿ㸬㸬ࡲ࡜ࡵ⌫㠃࣮ࣔࢱ㛤Ⓨࡢึᮇ࠿ࡽ⌧ᅾࡢ≧ἣࢆᴫほࡋ㸪▮㔝ࡽࡢ◊✲ࡢ⌧≧࡜┠ᶆ㸪ᑗ᮶࡟ࡘ࠸࡚㏙࡭ࡓ㸬⌫㠃࣮ࣔࢱࡢ◊✲ࡣ㸪㟁Ẽᶵჾࡢ⌮ㄽయ⣔ࢆ 3 ḟඖ✵㛫࡟ᣑᙇࡋయ⣔໬ࡍࡿ࡜࠸࠺Ꮫ⾡ⓗഃ㠃࡜㸪ᗈࡃᬑཬࡍࢀࡤᶵჾࡢ㧗ᛶ⬟໬࡜┬࢚ࢿࣝࢠ࣮࣭┬㈨※ࢆྠ᫬࡟㐩ᡂࡍࡿ࡜࠸࠺ᕤᴗⓗഃ㠃ࢆేࡏᣢࡗ࡚࠸ࡿ㸬ᮏሗ࿌ࡢㄞ⪅ࡢ㸪◊✲࡬ࡢཧ⏬ࢆᮇᚅࡋ࡚࠸ࡿ㸬ㅰ㎡ᮏ◊✲ࡢ୍㒊ࡣ㸪ᩥ㒊⛉Ꮫ┬⛉Ꮫ◊✲㈝ᇶ┙◊✲(A)24246032͆ከ㠃యᗄఱᏛ࡟ࡶ࡜࡙ࡃ⌫㠃㥑ືࢩࢫࢸ࣒ࡢ◊✲͇ࡢຓᡂࢆཷࡅ࡚⾜ࡗࡓ㸬ࡇࡇ࡟ㅰពࢆ⾲ࡍ㸬ཧ⪃ᩥ⊩(1) ᩥ㒊⛉Ꮫ┬≉ᐃ㡿ᇦ◊✲ 438 ࣈࣞ࢖ࢡࢫ࣮ࣝࢆ⏕ࡳฟࡍḟୡ௦࢔ࢡࢳ࢚࣮ࣗࢱ◊✲㸪◊✲ᴫせhttp://yokota-www.pi.titech.ac.jp/Acto%20Files/Actuator-index.html.
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఍ㄅ,Vol.77,No.9,(2011),pp.836-839(41) ࢔ࢡࢳ࢚࣮ࣗࢱࢩࢫࢸ࣒ᢏ⾡௻⏬ጤဨ఍㸪͆࢔ࢡࢳ࢚࣮ࣗࢱᕤᏛ͇
㸪㣴㈼ᇽ㸪(2004)(42) ᵽཱྀಇ㑻㸪኱ᒸᫀ༤┘ಟ㸪͆࢔ࢡࢳ࢚࣮ࣗࢱ◊✲㛤
Ⓨࡢ᭱๓⥺͇
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