THK (Japan)

In recent years, due to the demand for energy conservation, rolling guides that can be driven with less force are being replaced. Among these, a mechanical element called a linear guide is used for linear motion guidance. This linear guide has a short history compared to rolling bearings used for rotational guides, and much remains unknown. Future research is expected. In this study, we applied voltages of 0.1 A, 0.5 A, and 1.0 A to the rail side of the linear guide and positive voltage to the carriage side, respectively, and operated for 1000 h. As a result, under all current conditions, there were no discharge marks on the rail, discharge marks were formed on the rolling surface on the carriage side, and discharge marks were formed all around the ball. Furthermore, the area where discharge marks are formed on the carriage side becomes wider as the applied current increases, and at an applied current of 0.5 A, discharge marks with a striped pattern at the pitch of the rolling elements were formed.

In this study, we focus on a variable flux motor with a drawable stator, in which the magnetic flux is controlled by drawing out its stator and changing the facing area between its rotor and stator. First, we describe the characteristics and problems of a variable flux motor with a drawable stator. Second, we propose a new rotor structure that consists of two types of rotors with different characteristics. Finally, we conclude that the new rotor achieves high efficiency and high power in both low- and high-speed areas.

Türklerin İslamiyet’le tanışmalarından sonra dinî metinlere olan ilgileri hem ilmî hem de edebî mecrada de-vam etmiştir. Anadolu topraklarına gelen pek çok kimse yaşadıkları coğrafyanın kültür, edebiyat ve örfünü beraberinde getirmiş ve Anadolu irfanı diye kavramlaştırabileceğimiz bir anlayışı ortaya çıkartmışlardır. Bu amaca hizmet edenlerden biri de şüphesiz Mevlânâ’dır. Onun şiirleri ülke sathını aşarak dünyaya yayılmış ve haklı bir şöhrete kavuşmuştur. Bu makalede Mevlânâ’nın Dîvân-ı Kebîr isimli eserinde yer alan iktibas veya telmih yoluyla kullandığı hadis metinleri incelenmiştir. Kullandığı rivayetlerin kaynakları ve sıhhat durumları başta olmak üzere örnek bir gazel etrafında hadis kullanım metodu değerlendirilmiş; elde edilen veriler analiz edilerek onun kullandığı metinlerin konu tasnifi yapılmıştır. Müellifin tasavvufla olan bağının rivayet terci-hinde önemli ölçüde etkili olduğu görülürken kullanılan hadislerin % 56.3’ü makbul, % 43.7’si merdud metin-lerden oluştuğu sonucuna ulaşılmıştır.

Steels are useful for mechanical elements because of their mechanical property. When designing the strength of a machine, the tensile strength is an important factor, but it is not easy to measure. On the other hand, hardness measurement is easier than that and can be measured in the shape of the product, thus it is frequently used. Hardness and tensile strength are in a proportional relationship, and there are conversion tables which are published. However, it is not showed for hardness higher than 55HRC. The surface hardness of bearings and gears which are subjected to high surface pressure is higher than 55HRC, so the hardness cannot be converted to tensile strength. Therefore, we performed experiments using medium carbon steel and confirmed the hardness and tensile strength in the range of 25 to 63HRC, including hardness above 55HRC. The results showed that the tensile strength and elastic limit peaked at about 55HRC, and when the hardness is at 63HRC, the tensile strength decreased by 25% and the elastic limit decreased by approximately 75%

In the previous report, we explained the formulation of dynamic simulation by applying the translational system / rotating system model in vibration theory to the load distribution theory, which is a static analysis method for linear motion ball guides (LMBG). We also conducted an impulse response test to intentionally excite the three-degree-of-freedom mode of LMBG, and reported the contents of verifying the natural frequency of each mode. In this simulation, the spring constant and torsional spring constant with five degrees of freedom, which affect the dynamic rigidity, are calculated by the load distribution theory, so the natural frequency of each mode can be predicted with any model number. However, there is no effective calculation method for the damping ratio that affects the vibration intensity, and after all, it is necessary to perform a test in advance to identify the damping ratio or to assume a value from past measurement results, which is complete. Therefore, this time, we made a two-row experimental LMBG and conducted an impulse response test. By analyzing the correlation between the damping ratio obtained and various cont act parameters derived from Hertz's contact theory, a mathematical expression of the damping ratio, that is, I tried to build a damping model. In addition, we report the contents of applying this model to the dynamic simulation of LMBG and verifying it with an actual product.

The evolution of robotics technologies has produced many kinds of robots, for example, cleaning robots, guidance robots, and transfer robots. In the future, these robots will coexist in the same public facilities. However, we will not be able to avoid developing these robot systems inefficiently, because most robot products have different interface specifications from each other. To efficiently develop robot systems, RRI (Robot Revolution & Industrial IoT Initiative)’s subcommittee has defined interoperable mobility function interface specification and published it in 2020. In this paper, to extend the specification document, practical systems operating conditions are discussed, and more detailed standard behavior and life cycle of mobile robots system included interface definitions are proposed.

In this paper we describe a continuous development and evaluation of multi purpose platform robot AERO via robot competitions. We participated to 4 robot competitions requiring different task with human size semi humanoid robot AERO, has same basic structure. For many types of competition tasks, the robot was designed as simple, robust, small and lightweight, furthermore it can be change parts for another situation of task. The versatility of the robot platform was increased from continuation of task analyisis, consideration of requirements, and implementation. In this paper we describe a continuous integration of robot design, cycle of task analysis, implemetation and integration, via robot competition.

Abstract The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.