bluuebunny/crossref_metadata_2025 huggingface dataset:
Sensing and Control of Friction in Positioning
Authors: Shiraishi Masatake ,   Open University, Ibaraki Study Center, 2-1-1 Bunkyo, Mito, Ibaraki 310-0056, Japan, Sumiya Hideyasu ,   Faculty of Engineering, Ibaraki University, 4-12-1 Nakanarusawa, Hitachi, Ibaraki 312-8511, Japan
Published: April 2016

Robust sensing and control in fine positioning is a key technology in the presence of various disturbances. For example, the position accuracy of high performance motion control systems is adversely affected by vibrations due to compliance and nonlinear effects such as friction. This paper focuses on a robust friction sensingmethodology based on the sensor fusion via the neural network from AE (acoustic emission) sensors and the feedforward control for the compensation of friction. This compensation is found to be useful for positioning control when frictions applied to the system are adequately and robustly estimated. Encouraging transient response and steady-state control performance were observed in the experimental results of positioning control of a one-dimensional transmission mechanism. The proposed friction sensing and feedforward control can be applied without modifications for nanoscale positioning.
Effect of Multilayering on Thrust Force Characteristics in Compact Linear Switched Reluctance Motors with a Simple Layer Structure
Authors: Sato Kaiji ,   Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, 4259 Nagatsuta, Midori-ku, Yokohama 226-8502, Japan
Published: April 2016

This paper describes the effect of multilayering on thrust force characteristics in compact Linear Switched Reluctance Motors (LSRMs) having a simple, flat shape. The Layer Structure Linear Switched Reluctance Motors (LS-LSRMs) basically comprise simple layer structure components such as a thin mover and a flat stator core for simple fabrication and for saving space. The use of the simple layer structure components facilitates the simple fabrication of multilayer actuators to generate a large thrust force. Themover consists ofmagnetic pieces sealed with nonmagnetic materials. The stator core is a single layer magnetic plate with fine beams. The force characteristics of two LS-LSRMs with one or two stator core layers were examined numerically. Then, their prototypes were fabricated and their force characteristics were measured. The results indicated that the multilayer structure was effective in increasing the effective thrust force.
Contact-Type Profile Measuring Device Using Laser Interferometry System Incorporating Hybrid Actuating System
Authors: Liu Yung-Tien ,   Department of Mechanical and Automation Engineering, National Kaohsiung First University of Science and Technology (FIRST TECH), No.1, University Rd., Yanchao District, Kaohsiung 824, Taiwan, R.O.C., Wu Han-Lin , Wang Je-Yi , Yamagata Yutaka ,   Ultra High Precision Fabrication Team, RIKEN, 2-1 Hirosawa, Wako, Saitama 351-0198, Japan
Published: April 2016

This paper proposes a contact-type profile measuring device using a laser interferometry system for precision components. This measuring device consists of an XY-table actuated by linear motors to obtain large operational ranges, an active contact probe driven by piezoelectric actuators to provide a small measuring force, and a specially configured optical path to reduce Abbe’s error. Fundamental experiments were performed to examine the control performance of the active probe, forward and backward motion behaviors of the hybrid actuating system, and contour measurement for an asphericmold. As one example of themeasured results, a maximum form error of 1.45 µm was obtained for an aspheric surface with a measured span of 4 mm and a sag of 37 µm. As a prototype highprecision measuring system, the effectiveness of the optical path and actuating system have been demonstrated. Further studies are suggested to improve the system performance by reducing the measuring force, increasing the measuring speed, and providing a scanning function.
Cross Coupling Controller for Accurate Motion Synchronization of Dual Servo Systems
Authors: Ishizaki Kosuke ,   Graduate School of Engineering, Nagoya University, Room 205, 2F, Building 2, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Sencer Burak , Shamoto Eiji
Published: April 2016

In order to attain higher manufacturing efficiency, “dual” (two) servo systems are widely used in advanced Computer Numerical Controlled (CNC) machine tools. A well-known example is the linear motor driven gantry type of micro machine tools where dual servos are employed to drive the heavier gantry axis. Recently, dual servos are also used in spindle systems. “Double sided milling” is an example where two spindles are required to cooperatively remove material on both sides of a workpiece. Synchronization of dual servo systems is crucial for achieving the desired manufacturing accuracy. This paper presents a crosscoupling controller to accurately synchronize dualmotor driven servo systems. Proposed cross coupling controller penalizes differential positioning error between dual servo drives by modifying the reference position and velocity commands. It improves motion synchronization without affecting the overall tracking bandwidth. A tuning method for the proposed controller is also presented for the control engineer’s practice.
Optimal Scheduling of Automatic Guided Vehicle System via State Space Realization
Authors: Sawada Kenji ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Choufugaoka, Chofu, Tokyo 182-8585, Japan, Shin Seiichi , Kumagai Kenji , Yoneda Hisato ,   Murata Machinery, Ltd., 9Fl., Yokohama Nishiguchi K Bldg., 2-8-19 Kitasaiwai, Nishi-ku, Yokohama-shi, Kanagawa, Japan
Published: April 2016

This paper considers dynamical system modeling of transportation systems in semiconductor manufacturing based on state space realization. Utilizing this method, we consider an optimal scheduling problem for an Automatic Guided Vehicle (AGV) transfer problem, which is to control AGV congestion at transport rail junctions. Our scheduling algorithm is based on model-predictive control in which the cycle of measurement, prediction and optimization is repeated. Its optimization is recast as an Integer Linear Programming (ILP) problem. Since little attention has been given to AGV scheduling based on model-predictive control, no method is, to our knowledge, known for determining appropriate cost functions. Here, we focus on throughput maximization and shortest transit time problems and show corresponding cost function settings. We also propose a visualization algorithm of AGV scheduling via state space realization, presenting numerical examples.
Development of a System for Measuring the Thickness of Free Curved Plates – Measurement Posture Planning Using C-Space –
Authors: Okugawa Yurie ,   Graduate School of Natural Science and Technology, Kanazawa University, Kakuma-machi, Kanazawa, Ishikawa 920-1192, Japan, Asakawa Naoki , Okada Masato ,   Faculty of Mechanical Engineering, Institute of Science and Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Ishikawa 920-1192, Japan
Published: April 2016

Although it is important to evaluate the thickness of a product made on a press in order to evaluate the mold, there is currently no appropriate system for measuring the thickness of a free curved plate. This study details the development of an automatic measurement and evaluation system for measuring the thickness of free curved plates. The system uses laser displacement gauges and an industrial robot to measure the thickness of a plate. While the system has been capable of measuring workpieces with relatively simple shapes, there have been collisions between the laser path and workpieces with more complicated shapes, owing to geometrical limits of the gauges in terms of measuring posture. This paper proposes a new method of detecting and avoiding collisions by changing the posture on the basis of CAD data when measurements are taken. In this method, not only the geometrical characteristics of the laser path but also the measuring error characteristics of the gauges stemming from measuring posture are considered. In addition, a continuous measuring path with changes in posture to avoid collision is devised. Experimental results confirm that the proposed method does make it possible to measure the thickness of workpieces with complicated shapes.
Material Removal During Ultrasonic Machining Using Smoothed Particle Hydrodynamics
Authors: Wang Jingsi ,   Department of Mechanical Systems and Design, Graduate School of Engineering, Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan, Shimada Keita , Mizutani Masayoshi , Kuriyagawa Tsunemoto
Published: April 2016

Hammering action plays a primary role in material removal in ultrasonic machining (USM). In the present study, Smoothed Particle Hydrodynamics (SPH) is used to simulate the hammering action of a single silicon carbide abrasive particle on a float glass workpiece, and the implications for crack initiation and propagation on the workpiece are discussed in detail. The adequacy of the SPH model is verified through an experiment that utilizes a stationary ultrasonic drilling machine. It is shown that the distribution and size of the cracks on the sample workpiece are well in agreement with the simulation results. The current study presents a new way to understand the material removal process of USM, which is extremely significant for the further improvement of the performance of USM techniques.
Development of Finishing System Using Acoustically Levitated Abrasive
Authors: Inada Tomohiro ,   Graduate School of Science and Engineering, Ibaraki University, 4-12-1 Nakanarusawa, Hitachi, Ibaraki 316-8511, Japan, Zhou Libo , Ojima Hirotaka , Shimizu Jun ,   College of Engineering, Ibaraki University, 4-12-1 Nakanarusawa, Hitachi, Ibaraki 316-8511, Japan
Published: April 2016

Based on the acoustic levitation phenomenon, we propose and develop an acoustic levitation / positioning system to control the movements of free abrasives to finish inner surfaces. Described in this paper are the theoretical analysis of levitation forces generated in a standing wave field and the results of experiments involving levitation and positioning. We first calculate the wave amplitude and frequency required to levitate the abrasives. Based on the results, we develop a system consisting of a sound transducer (speaker), a reflector (an aluminum plate), an amplifier, and a function generator, and we successfully not only levitate but also position actual abrasives in a tube. We find that the relation between the size and density of the abrasives and the strength of the acoustic field (wave amplitude and frequency) basically agree with the theoretical prediction. In addition, the kinetics of levitated abrasives, including their positions and movements, are precisely controlled by varying the wave frequency and switching from one node position to another.
Development of Transfer System for Micropress
Authors: Ogura Ichiro ,   Advanced Manufacturing Research Institute (AMRI), National Institute of Advanced Industrial Science and Technology (AIST), 1-2-1 Namiki, Tsukuba, Ibaraki 305-8564, Japan, Ashida Kiwamu , Koga Tetsuo ,   Shotoku Zerotech Co. Ltd., 172 Takataro, Nishiyokata-machi, Saga, Saga 840-0036, Japan
Published: April 2016

A micropress system developed by the National Institute of Advanced Industrial Science and Technology (AIST), which uses microdies and strip materials, can machine submillimeter order profiles at 60 shots per minute using a series of in-line press machines. Although this system is an effective machining device for microfabrication, it is disadvantageous in terms of material consumption. In the strip material feeding system, much of the material becomes scrap, which is eventually thrown away after machining. Transfer press processing, a technique involvingmachining precut material to the product size and transferring it between press machines, is an effective method for reducing material waste. Transfer press machining has already been realized at a large scale. However, there have been few attempts to apply the transfer press to micropress machining. In this study, we developed a new microtransfer hand system for the microtransfer press. The developed transfer system can move the material in reverse or half-rotate it for value-added press machining. A test bench was developed for a transfer experiments to check the microtransfer and reverse settings. In the transfer experiments, this system achievedmicrotransfer with a success rate ofmore than 99%. A time-budget schedule was considered to improve the transfer time rate. The relationship between the grasping force of the transfer fingers and the success rate was examined as the first step in analyzing the stability and rapid transfer of work piece.
Development of Non-Destructive Technology for Detecting Grinding Burns
Authors: Azuma Takayuki ,   JTEKT Corporation, 1-1 Asahi-machi, Kariya, Aichi 446-8652, Japan, Ito Ryo , Soma Shinji , Murakami Shinji , Kuriyagawa Tsunemoto ,   Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Sendai, Miyagi 980-8579, Japan
Published: April 2016

The nitric acid corrosion method that is currently in use in the production field to inspect for grinding burns on workpieces has some disadvantages: its detection levels depend on people and equipment, and is a destructive inspection method that does not allow for a total inspection. This study therefore aims to develop a non-destructive technology for detecting grinding burns, one that will allow for quantitative total inspections on a production line. An eddy current sensor seems very promising as a means of performing non-destructive inspections because of its short measuring time and low costs. In this paper, we propose a method of simultaneously measuring the eddy current sensor’s output at two different frequencies (the multi-frequency measuring method), as this method is not affected by any variations in the basic material of the inspection object, and we then verify its effectiveness. In addition, we prototype a grinding burn detection system using the proposed measuring method, and we evaluate the determinations it makes on grinding burns on workpieces. As a result, the proposed multi-frequency measuring method is found capable of determining grinding burns on workpieces more quantitatively and with higher sensitivity than the nitric acid corrosion method.
Development of a Micro-Sized Thermal Contact Sensor for Inspection of Surface Defects
Authors: Shimizu Yuki ,   Nano-Metrology and Control Laboratory, Department of Nanomechanics, Tohoku University, 6-6-01 Aramaki, Aza Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan, Lu Wenjian , Ohba Yuta , Gao Wei
Published: April 2016

This paper presents an experimental study on a thermal element, which is designed to be used as a sensing device that detects a small amount of frictional heat due to a contact with nanometre-scale defects on smoothly-finished surfaces. A prototype of the thermal element, which is a thin-film resistance, is fabricated by using photolithography processes, and its sensitivity on the contact detection is investigated through some experiments, in which the thermal element is scratched by a micro-sphere controlled by PZT actuator in both X- and Z-directions so that a contact between the thermal element and defects can be simulated. Influences of an interference height and relative velocity between the thermal element and the target surface on the output of the thermal element at the contact detection are verified.
Fabrication of Titanium-Based Hard Coatings by Atmospheric Microplasma-Metal Organic Chemical Vapor Deposition Using Titanium Tetraisopropoxide
Authors: Suzuki Tsunehisa ,   Yamagata Research Institute of Technology, 2-2-1 Matsuei, Yamagata 990-2473, Japan, Kato Mutsuto , Shimizu Yoshiki ,   National Institute of Advanced Industrial Science and Technology, 1-1-1 Higashi, Tsukuba, Ibaraki 305-8561, Japan
Published: April 2016

The atmospheric microplasma metal organic chemical vapor deposition (AP-MOCVD) using titanium (IV) tetraisopropoxide (TTIP) as a metal alkoxide titanium source was investigated for depositing TiC and TiN hard coatings on stainless steel rods for improving the tool life of electroplated diamond tools. The components and morphology of the coating deposited by microplasma AP-MOCVD with several gas sources and different processes was observed and analyzed. The titanium-based hard coatings composed of TiC, TiN, and TiO2 was successfully obtained by microplasma AP-MOCVD using TTIP as a metal alkoxide titanium source with mixed gases (CH4, N2, H2, and Ar). For the fabrication of titanium-based coatings (TiC, TiN) by microplasma AP-MOCVD, it is important that the carbon and oxygen content, which are components of TTIP, are reduced. The addition of hydrogen gas in the microplasma AP-MOCVD process, followed by nitriding effectively reduces the carbon and oxygen content in the coating.
A Framework for Systematizing Machine Tool Engineering
Authors: Shinno Hidenori ,   Precision and Intelligence Laboratory, Tokyo Institute of Technology, 4259-G2-19 Nagatsuta-cho, Midori-ku, Yokohama, Kanagawa 226-8503, Japan, Yoshioka Hayato , Sawano Hiroshi
Published: April 2016

The demand for machine tools with accuracy on a nanometer scale has been increasing in a wide range of industries. Machine tools have been called “mother machines” in that they produce various other devices. In order to meet the requirements of industry, numerous research activities have been conducted to develop various technologies related to machine tools. However, there are only few established technologies in spite of the machine tool industry’s long history. A new approach to systematizing machine tool engineering is playing an increasingly important role in the development of innovative machine tools. This paper presents a conceptual framework for systematizing machine tool engineering. Future evolutionary trends in machine tool engineering are also described.
In-Process and On-Machine Measurement of Machining Accuracy for Process and Product Quality Management: A Review
Authors: Takaya Yasuhiro ,   Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan
Published: April 2016

In-process and on-machine measurements are used to evaluate a variety of machining factors and conditions as well as the work done on the machine tool. With the increasing complexity of machining processes and greater requirements for accuracy and precision, the demand for advanced methods for process optimization has also increased. To meet this demand, process quality management (QM) requires an expansion of manufacturing metrology to include comprehensive closed-loop control of the machining process. To eliminate the effects of disturbances on the machining process and adjust the control quantities to optimal values for robustness, in-process and on-machine measurements are very essential. In this paper, we review technical trends in in-process and on-machine measurements for process QM and conventional quality control (QC) of products. Spreading measurement targets and applications are comprehensively reviewed.
Development of On-Machine Measurement Unit for Correction Processing of Aspheric Lens Mold with High Numerical Aperture
Authors: Hirose Tomohiro ,   Nachi-Fujikoshi Corp., 1-1-1 Fujikoshi-Honmachi, Toyama 930-8511, Japan, Kami Yoshihiro , Shimizu Tatsuhito , Yabuya Makoto , Morimoto Yoshitaka ,   Kanazawa Institute of Technology, 7-1 Ohgigaoka Nonoichi, Ishikawa 921-8501, Japan
Published: April 2016

Most ultra-precision machine tools for fabricating optical lenses and lens molds have on-machine measurement units that can be used for form measurement with the workpiece held on the main spindle. However, for lenses with high numerical apertures, such as pick-up lenses for Blu-ray discs and their molds, the form measurement needs to be made even at a large angle of inclination, which is not feasible with a conventional on-machinemeasurement unit. In this study, an on-machine measurement unit with a measurement angle range±75 degrees is developed. Its performance assessment shows that it has high measurement reproducibility. Ultra-precision cutting are then made to verify the effectiveness of the on-machine measurement unit in the correction processing. It is also reported that, in grinding process, high-form-accuracy workpieces can be made through the correction processing by repeatedly using the on-machine measurement unit to make time-series measurements of the grinding wheel wear and by predicting the wear.
Special Issue on Biomanufacturing
Authors: Sugita Naohiko , Mitsuishi Mamoru
Published: April 2016

The development of medical devices and systems is essential for improving quality of life and reducing global healthcare costs. Machine tools are increasingly used in the medical, automotive, airplane, and electronics fields thanks to advances in manufacturing technology. The processing of artificial implants and biomaterials, for example, and parts of medical devices such as endoscopes are manufactured with multiaxis machine tools. This demand is expected to increase as society ages. Equipment used in diagnostics and surgery has also developed rapidly. Despite the use of advanced diagnostics such as computed tomography (CT) and magnetic resonance imaging (MRI), however, surgery still largely depends on the skill and sense of the surgeon. Advanced manufacturing technologies are thus needed to achieve these desired attributes. Biomanufacturing requires expertise in basic manufacturing processes such as cutting, electrophysical and chemical processes, forming, and abrasive processes. These, in turn, must be integrated into machine design, surface modification, precision engineering, and metrology within the overarching frameworks of design, life cycle engineering and assembly, production systems, and organization. Biomanufacturing is thus defined as the application of design and manufacturing technologies for reducing cost while advancing safety, quality, efficiency and speed in healthcare services and biomedical sciences. Biomanufacturing provides an excellent platform for converging innovations in precision engineering, nanotechnology, biotechnology, information technology, and cognitive sciences. This special issue presents the latest in research advances, practical and theoretical applications, and case studies on biomanufacturing. The papers featured in this issue provide aid in the development of next-generation manufacturing technologies. We thank the authors for their invaluable contributions and the reviewers for their ever- useful advice. We know you will find this special issue both fascinating and worthwhile.
Three-Dimensional Microassembly of Cell-Laden Microplates by in situ Gluing with Photocurable Hydrogels
Authors: Yoshida Shotaro ,   Institute of Industrial Science, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan, Sato Koji , Takeuchi Shoji
Published: April 2016

This paper describes a method for assembling cellladen microplates into three-dimensional (3D) microstructures by in situ gluing using photocurable hydrogels. We picked up cell-laden microplates with microtweezers, placed the plate perpendicular to one another on a microgroove device, and glued them by local photopolymerization of biocompatible Poly (Ethylene Glycol) (PEG) hydrogels. The advantage of this assembly method is its ability to construct 3D biological microstructures with targeted cells. We demonstrated the assembly of a 3D half-cube microstructure with genetically labeled cell-laden microplates. We believe our method is useful for engineering the positions of cells in 3D configurations for cell-cell interaction analysis and tissue engineering.
Improved Cytocompatibility of Nanosecond-Pulsed Laser-Treated Commercially Pure Ti Surfaces
Authors: Mizutani Masayoshi ,   Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan, Honda Ryo , Kurashina Yuta , Komotori Jun , Ohmori Hitoshi ,   Graduate School, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan,   Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan,   RIKEN Advanced Science Institute, 2-1 Hirosawa, Wako-shi, Saitama 351-0198, Japan
Published: April 2016

In this study, we developed a surface modification technology for implants using commercially pure (cp) Ti. The technology used in this study leads to reduction in the time required for adhesion between bone and surfaces of implants. The existence ofmicroasperities and oxide layers is important to induce calcium phosphate precipitation and bone formation activity of osteoblasts. In addition, we focused on nanosecondpulsed laser treatment as a method to create both microasperities and oxide layers. First, we observed surface morphologies formed by laser treatment. An oxide layer with high oxygen concentration and microasperities on the order of 10 nm to 10 µm were produced. Moreover, the OH groups were created on the laser-treated surface. Second, by culturing osteoblasts on the laser-treated cp Ti surface, its effects on cell shape, proliferation, and activity of bone formation were evaluated. Even though cell proliferation was at a comparable level in these two surfaces, the ALP activity per cell number was improved by about four times in the laser-treated surface compared with that in the polished surface. On the laser-treated cp Ti surface, it was considered that the bone formation activity of osteoblasts was promoted without inhibiting cell proliferation. From the results of this study, it is possible to conclude that by treating cp Ti surfaces with a laser, a surface with good cytocompatibility can be created.
Special Issue on Robotics for Innovative Industry and Society
Authors: Noritsugu Toshiro
Published: April 2016

Robotics has become one of the most important automation technologies for industry and society. Robot components such as actuators and sensors, together with mechanisms and control systems, are being more and more combined with intelligent sensors in innovative industry design and fabrication. Robot technology is being applied in such fields as welfare, education, agriculture, and energy. Robot technology for welfare and nursing is being promoted by the government to increase lifestyle creativity as society ages. This special issue focuses on robotics in fields from manufacturing industries to societal needs. Papers ranging from robotics theory to robot application have been invited. Among the topics covered are robot mechanisms, robot components, actuators, sensors, and controllers, robot control theory, robotic systems, energy saving, industrial applications, automation, vehicles, entertainment, medicine, welfare and nursing applications, and robotics education. The 15 papers presented in this issue include actuators such as rubber artificial muscles or phase-change actuators, pneumatics, power assist devices such as assist glove and upper-limb assist devices, robotic suits, sensor fusion, omnidirectional locomotion, underwater robots, force display apparatuses, meal assistant robots, manufacturing applications of parallel-link mechanisms, surface polishing, and agricultural applications. These papers bring readers the latest state-of-the-art robot technologies useful in everything from analysis and design to control and applications in innovative industries. We thank the authors for their invaluable contributions and the reviewers for their advice – all of which have made this special issue both informative and entertaining.
Motion Analysis of McKibben Type Pneumatic Rubber Artificial Muscle with Finite Element Method
Authors: Nozaki Takashi ,   Shizuoka Institute of Science and Technology, 2200-2 Toyosawa, Fukuroi, Shizuoka 437-8555, Japan, Noritsugu Toshiro ,   Tsuyama National College of Technology, 624-1 Numa, Tsuyama-City, Okayama 708-8509, Japan
Published: April 2016

This study aims to use three-dimensional (3D) Finite Element Modeling (FEM) to establish a quantitative design optimization method forMcKibben-type pneumatic rubber artificial muscle. First, a simple 3D model that does not account for the friction between the tube and the fiber braid strands and or that between the strands themselves is developed. The model is validated through experimentation, and the usefulness of the model is examined. With this model, the effects of various parameters, e.g., the braid angle, on the operation of the artificial muscle is investigated. It is found that the characteristics of the artificial muscle can be predicted. Thus, the proposed analysis may be a useful design method for braided artificial muscles.
Study on Control Performance with Consideration of Articulated Manipulators with Pneumatic Cylinders
Authors: Murayama Eiji ,   Graduate School of Engineering and Science, Shibaura Institute of Technology, 307 Fukasaku, Minuma-ku, Saitama-city, Saitama 337-8570, Japan, Yogosawa Yoshiyuki , Kawakami Yukio , Horikawa Akiyoshi , Shioda Koji , Ogawa Masashi ,   Department of Machinery and Control Systems, Shibaura Institute of Technology, 307 Fukasaku, Minuma-ku, Saitama-city, Saitama 337-8570, Japan,   Development Department, Development Division, KOGANEI Corporation
Published: April 2016

We have developed new articulated manipulators with compact pneumatic cylinders and high levels of structural flexibility and safety by adopting new structures. When a pneumatic cylinder is used as an actuator, mechanical friction and dead time are the main problems manifesting in the pneumatic servo system. In this study, we first designed nominal models of articulated manipulators using experimental data on a closedloop system. Thereafter, we analyzed the kinematics of the manipulators and examined the method of generating the trajectory of a manipulator’s fingertip. Finally, we conducted simulation and experiments on the articulated manipulators we developed to understand their positional controllability. Furthermore, we experimentally evaluated the pressure-sensitive sensor embedded in the fingertip, the results of which are also reported in this paper.
Prototype Development of a Parallel-Link Robot Actuated by Pneumatic Linear Drives with Variable Inclination Mechanisms
Authors: Kosaki Takahiro ,   Faculty of Information Sciences, Hiroshima City University, 3-4-1 Ozuka-higashi, Asaminami-ku, Hiroshima 731-3194, Japan, Morinaga Yoshihiro , Sano Manabu ,   Faculty of Informatics, Osaka Gakuin University, 2-36-1 Kishibe-Minami, Suita-shi, Osaka 564-8511, Japan
Published: April 2016

Parallel-link robots are generally high in power and precision because of their parallel arrangement of actuators. However, they have a workspace smaller than that of serial-link robots. In this paper, we develop a parallel-link robot prototype with pneumatic linear drives in which a mechanism for varying the actuator inclination is incorporated to enlarge the workspace. Our parallel-link robot realizes the rotational and translational motions of the end effector principally by means of the linear reciprocating motions of pneumatic linear drives mounted on the base. Auxiliary pneumatic actuators are used to adjust the inclination angles of those main pneumatic linear drives. The use of pneumatic actuators to realize the proposed parallel-link robot results in a lightweight, compact, and low-cost construction. The workspace and motion transmissibility of our parallel-link robot are analyzed through simulations based on kinematics; then, experimental investigations are carried out using the prototype.
Fingertip Force Displaying Device Using Pneumatic Negative Pressure
Authors: Takaiwa Masahiro ,   Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Kitaku, Okayama 700-8530, Japan, Noritsugu Toshiro , Sasaki Daisuke , Nogami Takahiro ,   Tsuyama National College of Technology, 624-1 Numa, Tsuyama 700-8509, Japan
Published: April 2016

In this study, a fingertip force display device that uses negative pressure is developed. The device can control the resisting force against a finger’s motion by regulating the negative pressure in an air chamber processed in the device. Information about the position of a finger is obtained with a Web camera using AR-Toolkit library, and the resisting force is controlled based on the fingertip position (velocity), which shows the capability of the VR-oriented application and mechanical impedance task. The effectiveness of the proposed system is verified through experiments.
New Pneumatic Rubber Leg Mechanism for Omnidirectional Locomotion
Authors: Ribuan Mohamed Najib ,   Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, Japan, Suzumori Koichi , Wakimoto Shuichi
Published: April 2016

This paper describes a new pneumatic rubber leg mechanism for omnidirectional locomotion. The new mechanism was adopted from a pneumatic balloon actuator where translation and bending motions are produced as a result of balloon deformation. It was constructed using five chambers: one on the top and centered over four bottom chambers arranged in a square. Several possible designs were simulated to achieve the optimal design using a non-linear finite element analysis that considered the design parameters and the geometrical and material non-linearity of the elements. Prototyping was then performed using a rapid and efficient silicone rubber molding fabrication process based on computer-aided design and manufacturing. The experimental results were in good agreement with the analytical results. In conclusion, we have established a new rubber leg mechanism with a high degree of freedom to realize omnidirectional locomotion for a soft robot base, delicate object conveyance, and / or microscope stage applications.
Mobile Quality Evaluation Robot for Making Agricultural Products Traceable
Authors: Monta Mitsuji ,   Graduate School of Environmental and Life Science, Okayama University, 1-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, Japan, Namba Kazuhiko
Published: April 2016

A mobile quality evaluation robot has been developed to make agricultural products traceable. The operator moves the robot along a crop line to harvest fruit. The quality of the harvested fruit is evaluated from images taken by a machine vision system mounted on the robot. At the same time, individual plants from which the fruit was collected are identified from the plant numbers of IC tags attached to every one. A field map with information about fruit quality and yield is created based on these data.
Quadrilateral Meshing for Hexahedral Mesh Generation Based on Facet Normal Matching
Authors: Kawaharada Hiroshi ,   Department of Precision Mechanics, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan, Imai Yusuke , Hiraoka Hiroyuki
Published: April 2016

Because performance testing using actual products is costly, manufacturers use lower-cost Computer-Aided Design (CAD) simulations. In this paper, we focus on hexahedral meshes, which are more accurate than tetrahedral meshes, for finite element analysis. Our final objective is automatic hexahedral mesh generation with sharp features to precisely represent the corresponding features of a target shape. Our hexahedral mesh is generated using a voxel-based algorithm. In our previous works, we fitted the surface of the voxels to the target surface using Laplacian energy minimization and used normal vectors in the fitting to preserve sharp features. However, we were unable to precisely represent sharp concave features using the method. In this proposal, we improve the previously used Laplacian energy minimization by adding a term that depends on facet normalmatching for multi-normal vectors, instead of using normal vector matching.
Hand Modeling and Motion Reconstruction for Individuals
Authors: Endo Yui ,   National Institute of Advanced Industrial Science and Technology, 2-3-26 Aomi, Koto-ku, Tokyo 135-0064, Japan, Tada Mitsunori , Mochimaru Masaaki
Published: April 2016

In this paper, we propose a new method of reconstructing hand models for individuals including link structure models, homologous skin surface models and homologous tetrahedral mesh models in a reference posture. The skin surface model is defined as a threedimensional triangularmesh, obtained by deforming a template mesh so as to fit the landmark vertices to the corresponding marker positions obtained by a motion capture system. In this process, anatomical dimensions for the subject, manually measured by a caliper, are also used as the deformation constraints. As for the link structure model, the local coordinate system related to each link consists of the joint rotation center and the axes of joint rotation, which can be estimated based on the deformation of the skin surface of the template model relative to the one of the individual. By using obtained individual hand model, hand postures in a motion sequence are also reconstructed based on the landmark points and the corresponding marker positions obtained from the motion capture system. Virtual spring-damper models located between the landmarks and the markers are used in physically-based simulation for the posture reconstruction.
Integrated Information Model for Design, Machining, and Measuring Using Annotated Features
Authors: Tanaka Fumiki ,   Graduate School of Information Science and Technology, Hokkaido University, Kita-14, Nishi-9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan, Abe Hiroyuki , Igari Shinji , Onosato Masahiko
Published: April 2016

Annotations on Geometric Dimensioning and Tolerancing (GD&T), surface roughness, etc. are needed for machining or measuring. However, these annotations are not used for the digital format in the product development process, nor is there any clear, explicit relationship between annotation, machining information, and measuring results. In this research, an integrated information model for design, machining, and measuring based on annotated features is proposed. A model for surface texture is also proposed because surface texture parameters are closely related to machining process parameters. A modeling system for the proposed integrated model is also implemented.
Feature-Based 3D Process Planning for MEMS Fabrication
Authors: Kanai Satoshi ,   Graduate School of Information Science and Technology, Hokkaido University, Kita-14, Nishi-9, Kita-ku, Sapporo 060-0814, Japan, Shibata Takayuki , Kawashima Takahiro ,   Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku, Toyohashi, Aichi 441-8580, Japan
Published: April 2016

With the fast growth of the market forMEMS (Micro-Electro-Mechanical Systems) devices, Computer-Aided Design (CAD) and Computer-Aided Process Planning (CAPP) systems for MEMS are essential for the appropriate division of labor between MEMS design and fabrication. Although several CAD systems for MEMS devices are commercially available, CAPP systems for MEMS are still underdeveloped, and few systems have been investigated. The purpose of this study is to prototype a CAPP system for MEMS for non-expert MEMS designers. MEMS device geometry, a complex layered structure made of multiple materials, is represented as a solid model called a device model. The system has twomain functions. In processextraction function, all feasible fabrication processes of the device are exhaustively derived from the device model using 3D fabrication features as clues. In manufacturable-geometry-estimation function, the expected 3D geometry of the device that will actually be fabricated by the derived process, which might differ from the original device model, is estimated. Process emulation using a commercial emulator and examination by expert researchers confirm that the derived process plans and the expected 3D geometries of the device are feasible and plausible.
Fast Estimation Method of Machinable Area of Workpiece Surface for 3+2-Axis Control Machining Using Graphics Device – Visualization Algorithm of Machinable Area and Minimum Shank Length with Texture Projection Technique –
Authors: Kaneko Jun’ichi ,   Division of Mechanical Engineering, Graduate School of Science and Engineering, Saitama University, 255 Shimo-Ohkubo, Sakura-Ku, Saitama City, Saitama 338-8570, Japan, Yamauchi Yuki , Horio Kenichiro
Published: April 2016

This study proposes a new method of estimating tool posture in 3+2-axis control machining process. The proposed method focuses on two different properties of the workpiece surface, the machinable area and then minimum shank length. The distribution of these properties on the workpiece surface is determined by the tool posture, workpiece shape, and the shape of the cutting tool. In the planning process of 3+2-axis control machining, CAM and CAPP operators often determine the combination of tool posture and tooling conditions through trial and error. Considering these processes, it would be extremely useful to have a fast method of visualizing these properties on the workpiece surface to realize CAM and CAPP systems with an interactive interface. Therefore, this study proposes a fast estimation method that visualizes both the machinable area and the distribution of the minimum shank length as a color image for each tool posture candidate. In order to reduce the calculation time of the proposedmethods, a graphics device known as a Graphics Processing Unit (GPU) is introduced. In the proposed algorithm to adapt several features to GPU hardware, the offset shape of the workpiece surface is generated from depth information in rendering 3DCG. Furthermore, the unmachinable area is estimated by the inverse-offset operation and shadow mapping function in 3D-CG techniques. In the visualization phase of the required shank length on the workpiece surface, a color image is generated from the depth information. Then, the color image is projected on the workpiece shape using the texture projection technique. Because most calculation processes can be executed inside the GPU hardware, the developed prototype system can visualize both the unmachinable area and the distribution of minimum shank length within several dozen milliseconds for each tool posture candidate.
A Surface Parameter-Based Method for Accurate and Efficient Tool Path Generation
Authors: Takasugi Keigo ,   Kanazawa Institute of Technology, Ogigaoka 7-1, Nonoich, Ishikawa, Japan, Asakawa Naoki , Morimoto Yoshitaka ,   Graduate School of Natural Science and Technology, Kanazawa University, Kakuma, Kanazawa, Ishikawa, Japan,   Kanazawa Institute of Technology, 3-1 Yatsukaho, Hakusan, Ishikawa, Japan
Published: April 2016

Along with the increasing need for multi-axis and multi-tasking machining tools for the machining of complex free surfaces, the importance of CAM applications related to the accuracy of the free surfaces has increased dramatically. The machining accuracy and surface integrity of a product depends not only on the performance of the machining tool itself but also on the tool path generated by CAM. At present, there is a trade off between numerical calculation errors and cost in CAM. There is no calculation method that satisfies both sides. Of particular importance is the fact that the cost increases exponentially with the rank of the free surface. Therefore, this paper proposes a new method of generating tool paths efficiently; it generates tool paths directly from 2-dimensional parametric space by using the parametric surface defined as a polynomial. We confirm that this method can reduce the cost and that the tool path can be generated by means of a simple calculation process, without considering singular points. Moreover, since commercial CAM kernels cannot accommodate to our method, we design and implement a new CAM kernel that can access the parametric surface directly in order to develop this method.
Grinding a Hard-to-Grind Materials with Ultrasonic-Assisted Fluid
Authors: Ishimatsu Jun ,   Nagaoka University of Technology, 1603-1 Kamitomioka-machi, Nagaoka, Niigata 940-2188, Japan, Iwaita Atsushi , Isobe Hiromi ,   JTEKT Corporation, 3-5-1 Sakae-machi, Hamura-shi, Tokyo 205-0002, Japan
Published: April 2016

Grinding is one of the machining processes used in the manufacture of high-accuracy parts. When materials which easily adhere to the grinding wheel are used, such as aluminum, stainless steel, and titanium, wheel loading must be considered, as this could have a limiting effect. In this research, the application of ultrasonic energy to the grinding fluid is carried out with a specially-designed effector inserted into the fluid supply flow with the expectation that loading will be removed from the wheel. The experiment is carried out on stainless steel and pure titanium. The grinding force and accession of temperature are investigated during grinding, and the reduction of both grinding force and thermal escalation is confirmed. Burn marks on the ground surface of titanium are also prevented.
Fabrication and Composition Control of Three-Dimensional Dielectric Metal Microstructure Using Photocatalyst Nanoparticles
Authors: Yoshigoe Hisamichi ,   Department of Precision Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Kadoya Shotaro , Takahashi Satoru , Takamasu Kiyoshi
Published: April 2016

Recently, three-dimensional microstructures have been attracting much attention because of their potential application to electromagnetic devices operating with specific frequencies such as THz wave. For suitability in such applications, the structures often need to have complex three-dimensional shapes, be smaller than or at least as small as the applied wavelengths, consist of metals or dielectric materials, and have certain electromagnetic characteristics such as high permittivity. Although there are several methods for fabricating micro-structures, few of them satisfy all of these conditions. We propose a new fabrication method for dielectric-metal three-dimensional structures with sizes of a few tens of micrometers. The main feature of our method is the extraction of metal using photocatalyst nanoparticles. Silver ions in solution are reduced to neutral silver by electrons from the photocatalyst nanoparticles. Experimental results show that our system can be used to fabricate threedimensional structures, and we propose a new method for controlling the composition of the structures.
Statistical Analysis for Evaluating Surface Roughness of Plane Honing
Authors: Shimada Keita ,   Department of Mechanical Systems and Design, Graduate School of Engineering, Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Sendai, Miyagi 980-8579, Japan, Kuo Chung-I , Mizutani Masayoshi , Kuriyagawa Tsunemoto
Published: April 2016

Recently, fixed abrasive technologies have been needed to solve some problems with free abrasive technologies, such as processing efficiency and environmental pollution. Plane honing is one effective fixed abrasive technology for processing wafer-like materials. Advantages of plane honing include a high processing rate, slurry waste-free process, and high finishing accuracy. The paper presents a method to simulate the plane honing process based on statistical analysis of a grinding process. One of the most significant differences between grinding and plane honing is process controlling method: the former is positioncontrolled, whereas the latter is pressure-controlled processes. In order to treat a pressure-controlled process, the amount of material removed from each segment was assumed to be constant based on Preston’s law, which is the most common principle for material removal in the polishing process. Reference curves of a segment were introduced to map tip points of abrasive grains contained in the segment. The reference curve can be compared with the surface curve of the workpiece to determine the material to be removed; repeating the comparison allows the plane honing process to be simulated. Plane honing experiments were conducted, and the results agreed qualitatively with the simulation results.