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公开(公告)号：JP2001138279A
公开(公告)日：2001-05-22
申请号：JP31933499
申请日：1999-11-10
Applicant: NAT AEROSPACE LAB
Inventor： OKAMOTO OSAMU , NAKATANI TERUOMI , KAMIMURA HEIHACHIRO , YAMAGUCHI ISAO
Abstract: PROBLEM TO BE SOLVED: To provide a high-functional articulated robot having an offset rotary joint of small and light construction and bearing a high torque and capable of making complicated and precise motions with a high payload, whereby track preparation can be made simply and smooth operations with quick response be performed even of the required motions are complicated. SOLUTION: A high reduction ratio transmitting and torque increasing mechanism is adopted to a rotation transmitting mechanism provided inside each joint of an offset rotary joint so that adoption of a small-sized motor is made practicable, and motion region of an end effector 3 is divided into a plurality of blocks B and the motion conditions of each joint required to make movement to the specified block are turned in database block while the instruction of working points in the specified block region is turned in database, and track preparation is made in the basis of the block region data till the block of the working region, and when the reference point of the block is attained, the intra-block working point data is called and the motion of each joint is decided.
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公开(公告)号：JPH0862091A
公开(公告)日：1996-03-08
申请号：JP21958194
申请日：1994-08-23
Applicant: NAT AEROSPACE LAB , NAT SPACE DEV AGENCY
Inventor： NAKATANI TERUOMI , OKAMOTO OSAMU , KUWANO NAOAKI , SUZUKI SEIZO , SASA SHUICHI , NAKAYASU HIDEHIKO , KOSAKA MASAKAZU
Abstract: PURPOSE: To obtain a flight motion simulator for obtaining a compact three- dimensional air flow generator for generating a three-dimensional air flow which is similar to a wind tunnel, verifying and evaluating a flight control system for the change of an aircraft for air on the ground using the generator, and simulating flight motion due to the change for air. CONSTITUTION: A three-dimensional air-flow generator 1 is constituted of a compact wind tunnel part 2 for creating a three-dimensional air flow at an arbitrary wind speed and a two-axis angle deformation mechanism 3 for arbitrarily changing air-flow angle in conical motion with a nozzle blow-up port as a top at the wind tunnel part, the generator l is positioned at the tip of a polygonal truncated pyramid type Point tube type probe 50 provided at an active control aircraft 49 for air, and a three-dimensional air flow is generated to verify the flight control system for the change of the active control aircraft for air. Also, a three-dimensional air-flow generator and an air-flow sensor probe are provided at a flight motion simulator, thus simulating the flight motion based on the change for air.
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公开(公告)号：JPH0858697A
公开(公告)日：1996-03-05
申请号：JP21958294
申请日：1994-08-23
Applicant: NAT AEROSPACE LAB , NAT SPACE DEV AGENCY
Inventor： NAKATANI TERUOMI , OKAMOTO OSAMU , KUWANO NAOAKI , SUZUKI SEIZO , SASA SHUICHI , NAKAYASU HIDEHIKO , KOSAKA MASAKAZU
Abstract: PURPOSE: To quickly control the airspeed for the stabilization thereof by obtaining an airspeed vector for a change relative to the air on a real time basis for the supply thereof to a control system, and predicting a flight motion induced due to the change relative to the air. CONSTITUTION: This device has an air data sensor probe 1 formed out of polygonal truncated pyramid Pitot tube type probe, and an airspeed vector signal processor 2 calculates an airspeed vector on the basis of relative air pressure information detected with the probe 1. In addition, an airspeed vector signal is inputted to an onboard control computer 3 in parallel to a signal from each type of aircraft body movement detection sensor 4 and read into an air control system. Thereafter, a flight motion induced due to a change relative to the air is thereby predicted to generate a flight control rule for stabilizing the control of the airspeed.
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