公开(公告)号：JPH10225881A

公开(公告)日：1998-08-25

申请号：JP4493897

申请日：1997-02-14

Applicant: NAT AEROSPACE LAB

Inventor： OKAMOTO OSAMU ,  NAKATANI TERUOMI

IPC: B25J9/06 ,  B25J19/00

Abstract: PROBLEM TO BE SOLVED: To provide an articulated robot, and a joint mechanism for that in which motion of a large freedom degree can be obtained by combination of joints each having a rotation mechanism only, in which weight reduction and high power of the joints can be achieved, in which payload to self-weight is large, and in which multi-stage articulation, a large moving range, and complicated and precise motion can be achieved. SOLUTION: A rotation control frame provided with a coreless electric direct drive motor on an inclined surface to a link axial line is provided between a driving side link and a driven side link to compose an offset rotary joint 5 having an offset rotation axial line OA in which the driven side link is inclined to a link axial line LA, and the offset rotary joints are provided in plural stages between a robot main body 3 and an end effector 4, thereby precise three-dimensional positioning of the end effector 4 can be performed by composite motion of the offset rotary joints 5.

公开(公告)号：JPH0633919A

公开(公告)日：1994-02-08

申请号：JP20946692

申请日：1992-07-15

Applicant: NAT AEROSPACE LAB

Inventor： NAKATANI TERUOMI ,  OKAMOTO OSAMU

IPC: B64C1/38 ,  B22F7/04 ,  B64C3/32 ,  B64G1/58 ,  B64G1/64 ,  C04B22/00 ,  C04B38/00 ,  C04B41/86 ,  C04B41/88 ,  E04B1/38 ,  F02C7/24 ,  F16B5/07

Abstract: PURPOSE:To provide a heat resistant mounting body which is provided with an integrated metallic heat resistant two dimensional fastener and can be mounted in a removable manner. CONSTITUTION:A part of a fastener element 5 of a metallic two dimensional fastener is covered by carbon powder with high melting point and fixed, and in addition, the base part is covered by the metallic powder, ceramics powder or its mixed powder, and the formation and sintering thereof provides a heat resistant plate 1 (heat resistant tile) where the metallic two dimensional fastener is integrated. Similarly, a fastener element base body 10 to be fastened which is mounted on an aircraft body base plate 15 where the fastener element to be fastened is integrated is provided. Thus, the heat resistant mounting body can be mounted on the mounting surface of a structure in a removable manner, the relative fine displacement is possible, and no cracking or separation is generated even when the thermal expansion strain and vibrations may be generated.

公开(公告)号：JPS6098888A

公开(公告)日：1985-06-01

申请号：JP20693183

申请日：1983-11-04

Applicant: NAT AEROSPACE LAB ,  MITSUBISHI ELECTRIC CORP

Inventor： OKAMOTO OSAMU ,  INOUE MASAO

IPC: H02P6/08 ,  H02P6/06

Abstract: PURPOSE:To improve the reliability of a DC motor by intermittently driving a transistor for driving a drive coil, and controlling a torque by regulating the ON time at this time corresponding to a torque command signal, thereby eliminating the transistor of large capacity and large size. CONSTITUTION:A motor control circuit 20 has a rotating direction control circuit 21 and a torque control circuit 29. The control circuit 21 selectively drives two of transistors 10-15 to decide the rotating direction of a motor. The control circuit 29 has semiconductor switching elements 22-27 provided between the rotating direction control circuit 21 and the bases of the transistors 10- 15, and a pulse width modulation drive circuit 28 for controlling ON and OFF the elements 22-27. The ON times of the transistors 10-15 are controlled in response to the magnitude of the torque command signal by the drive circuit 28.

公开(公告)号：JPH0361834A

公开(公告)日：1991-03-18

申请号：JP19659889

申请日：1989-07-31

Applicant: NAT AEROSPACE LAB ,  KAWASAKI HEAVY IND LTD

Inventor： OKAMOTO OSAMU ,  TADA YASUO ,  NAKATANI TERUOMI ,  SUZUKI SEIZO ,  SAKAI YOSHINORI ,  NIWA SENJI

IPC: G01N3/34 ,  G01N3/00

Abstract: PURPOSE:To make it possible to impart an arbitrary nonlinear repeating load on various kinds of raw materials and primary-structure materials constantly by constituting a load actuator with a composite eccentric type direct motor- driven positioner which has a stage characterized by four degrees of freedom so that the driving can be controlled. CONSTITUTION:An output shaft is positioned at an original point. Under this state, a test piece 50 is inserted into an upper tightening device 5 and fixed. The lower end is fixed to a tightening device which is linked to a stage 31 through a universal joint 10. At this time, the output shaft 30 can be freely moved up and down. At this time, a signal for the precession of the output shaft is inputted into a composite eccentric type direct motor-driven positioner which is a load actuator. Then the output shaft performs twisting rotation thetaZ around the axis based on an output signal and also performs circular motion at a specified radius and at a specified speed within a two-dimensional plane. The motion close to the specified precession is repeatedly loaded on the test piece 50. During this period, six components of force acting on the device 5 are detected with a load cell 7.

公开(公告)号：JP2001287189A

公开(公告)日：2001-10-16

申请号：JP2000108346

申请日：2000-04-10

Applicant: NAT AEROSPACE LAB

Inventor： OKAMOTO OSAMU ,  NAKATANI TERUOMI ,  KAMIMURA HEIHACHIRO ,  YAMAGUCHI ISAO ,  SUZUKI SEIZO ,  YABUUCHI NORIYOSHI ,  UENO JUNICHI ,  USUI YASUKI ,  NAGANO HIROAKI ,  RENBUTSU KATSUHIKO ,  ISAKI MITSUHARU

IPC: B25J19/02 ,  A61G12/00 ,  B25J5/00 ,  B25J9/00 ,  B25J9/06 ,  B25J9/22 ,  B25J13/08 ,  G01L1/20 ,  G01L5/00 ,  G01L5/22

Abstract: PROBLEM TO BE SOLVED: To provide a contact sensor that can measure the distribution of pressures throughout the surface of each joint unit forming a robot arm and having cylindrical shapes cut with an offset angle at both ends, and provide a technology that can control the driving of the robot arm on a real-time basis with detection values from the sensor. SOLUTION: A pressure-sensitive sheet sensor comprising a combination of row electrodes arranged parallel and column electrodes arranged in a bobbin form distributes the electrode nodes throughout the surface of each joint having cylindrical shapes cut with an offset angle at both ends. An electrode structure covering given widths along the columns and rows decreases the number of output signal terminals to thus lessen the burden of arithmetic processing. The pressure-sensitive sheet sensor, an encoder and an information processing means disposed for each joint execute local processing before sending the results to a CPU to thus lessen the burden of central arithmetic processing.

公开(公告)号：JPH07110864A

公开(公告)日：1995-04-25

申请号：JP25548093

申请日：1993-10-13

Applicant: NAT AEROSPACE LAB ,  FUJITSU LTD

Inventor： MORITA TOSHIHIKO ,  INAMOTO YASUSHI ,  UCHIYAMA TAKASHI ,  OKAMOTO OSAMU ,  YAMAGUCHI ISAO ,  GOMI HIROMI

IPC: G01P13/00 ,  G06T5/20 ,  G06T7/20

Abstract: PURPOSE:To make it possible to detect a mobile object even when a background is rotated, magnified or reduced by applying a two-dimensional Laplacian filter to a movement vector field and judging an area whose output value is larger than a threshold as a mobile object. CONSTITUTION:At least two moving pictures are time sequentially and continuously inputted (S1). A movement vector field is measured by various methods (S2). A two-dimensional plane taking a movement vector in the movement vector field as an element is generated (S3). A Laplacian filter LF having a positive value on its center part and a negative value on its peripheral part is applied to the two-dimensional plane (S4). As a result, only a part with movement different from the periphery has a large sized vector. Only the resultant size of the obtained vector is stored in the two-dimensional plane, threshold processing is applied to the two-dimensional plane so as to leave only the part having a large value and set up the other part to '0' (S5). As for the part having the large value, the positional information of the mobile object, and the size and direction of the movement vector are outputted at need (S6).

公开(公告)号：JPH0796900A

公开(公告)日：1995-04-11

申请号：JP26313893

申请日：1993-09-28

Applicant: NAT AEROSPACE LAB

Inventor： OKAMOTO OSAMU ,  NAKATANI TERUOMI

IPC: G09B9/00 ,  B64G7/00

Abstract: PURPOSE:To provide a three-dimensional free-motion device which can perform three-dimensional six freedom free-motion obtained by the combined operation of an ultra-low frictional support mechanism, and which can be applied to an agravic circumstance simulating and testing device, an evaluating test device for a working robot for handling a soft material, or the like. CONSTITUTION:A planar slide mechanism 3 gives for a floating bed 2, three freedom motions, that is biaxial translating motions on an X-Y plane, and an axial rotary motion, and a slide shaft cylinder 22 of a vertical axial slide mechanism part 4 can ensure a one-freedom motion which is a one-axial translating motion in the Z-axial direction under an ultralow frictional condition. Further, a three-axial rotary mechanism part 5 can ensure rotary motion around three axes for a sample model installing part 6 under an ultralow frictional condition. Accordingly, six-freedom motions, that is, three-axial translating motions and rotary motions around three axes can be ensured under an ultralow frictional condition, as a whole.

公开(公告)号：JPH06119962A

公开(公告)日：1994-04-28

申请号：JP28821392

申请日：1992-10-05

Applicant: NAT AEROSPACE LAB

Inventor： OKAMOTO OSAMU ,  NAKATANI TERUOMI

IPC: H01R39/00

Abstract: PURPOSE:To provide a multi-stage slip ring device which can certainly supply electric energy and give and take electric signals to/from a rotor to be tested having a multiple rotary shaft or a single-axis rotary shaft rotating at a super- high speed and which is applicable to a rotation test device through positive rotating of the rotor tested. CONSTITUTION:Outside rotors 2 of a structure one stage of more are concentrically fitted between a stationary base 1 and an inner rotor 3 rotatably, and multipolar multi-contact slip ring mechanisms 9, 10 are provided between these rotors. A motor 15 rotates the outside rotors 2 relative to the stationary base 1, and the relative revolving speed of the inside rotor with the base is decreased.

公开(公告)号：JPS58122299A

公开(公告)日：1983-07-20

申请号：JP195382

申请日：1982-01-09

Applicant: NAT AEROSPACE LAB

Inventor： MURAKAMI TSUTOMU ,  OOKAMI YOSHIAKI ,  OKAMOTO OSAMU ,  NAKAJIMA ATSUSHI

IPC: B64G1/38 ,  B64G1/28

公开(公告)号：JP2002326174A

公开(公告)日：2002-11-12

申请号：JP2002126392

申请日：2002-04-26

Applicant: NAT AEROSPACE LAB

Inventor： OKAMOTO OSAMU ,  NAKATANI TERUOMI ,  KAMIMURA HEIHACHIRO ,  YAMAGUCHI ISAO

IPC: B25J9/10 ,  B25J9/06

Abstract: PROBLEM TO BE SOLVED: To allow smooth operation with simple route generation and high response speed even in an advanced articulated robot having complicated and accurate movement. SOLUTION: In this method of controlling the advanced articulated robot having complicated and accurate movement by an offset rotating joint, the operating area of an end effecter 3 is divided into a plurality of blocks B, and the operating conditions of the joints required to move to specified blocks are stored as a data base for each block. The teaching of operation points in the specified block area is stored as a data base. Up to the block of a working area, the route is created based on block area data. When the generation reaches the reference point of the block, working point data in the block is called to determine the operations of the joints.