HARADA Takashi

Department of Mechanical EngineeringProfessor

Last Updated :2024/09/14

■Researcher basic information

Researcher number

80434851

ORCID ID

0000-0002-3739-2541

Research Keyword

  • 機構設計   オンマシン計測   インピーダンス制御   パラレルリンク機構   倣い動作   誤差解析   パラレルメカニズム   キャリブレーション   精密機械システム   インピーダンス設計   画像計測   倣い座標計測   冗長駆動   座標計測   オンマシン計測門   ロバスト計測   リハビリテーション   ロボティクス   アクチュエータ   

Research Field

  • Informatics / Mechanics and mechatronics
  • Informatics / Robotics and intelligent systems
  • Life sciences / Rehabilitation science

■Career

Career

  • 2012/04 - Today  Kinki UniversityFaculty of Science and EngineeringProfessor
  • 2012/09 - 2013/09  McGill Universityvisiting professor
  • 2006/04 - 2012/03  Kinki UniversityFaculty of Science and EngineeringAssociate Professor

Educational Background

  • 1997/04 - 2000/03  Osaka University  工学研究科  機械システム工学専攻 博士後期課程
  • 1985/04 - 1987/03  大阪大学大学院  工学研究科  産業機械工学専攻 博士前期課程
  • 1981/04 - 1985/03  Osaka University  School of Engineering  産業機械工学科

Member History

  • 2022/10 - Today   IFToMM Technical Committee for Computational Kinematics   Member

■Research activity information

Award

  • 2024/06 日本機械学会ロボティクス・メカトロニクス部門 ROBOMECH表彰(学術研究領域)
     スクリュー理論を用いた2プレート6自由度パラレルメカニズムのモビリティ解析 
    受賞者: 原田 孝;八瀬 快人
  • 2024/02 日本機械学会 フェロー
  • 2023/12 IEEE Robotics and Automation Society Robitica Best Paper Award of IEEE ROBIO 2023
     Family of Six-DOF Novel Two-Platform Parallel Robots and Development of Re-Configurable Prototypes 
    受賞者: Takashi Harada;Hayato Yase
  • 2020/09 IFToMM ROMANSY2020 Best Research Paper Award
     Singularity free mode changes of a redundantly driven two limbs six-dof parallel robot 
    受賞者: Takashi Harada;Yuta Kunishige
  • 2020/04 日本機械学会 機素潤滑設計部門 機素潤滑設計部門 優秀講演賞
     直列・並列差動ネジ駆動機構の統合的な運動学解析 
    受賞者: 原田 孝
  • 2016/12 ICCMA 2016 Best Presentation Award
     
    受賞者: takashi Harada
  • 2014/12 ICCMA 2014 ベストプレゼンテーション賞
     
    受賞者: 原田孝
  • 2014/03 MIMT 2014 ベストプレゼンテーション賞
     
    受賞者: 原田孝
  • 2013/04 日本機械学会 日本機械学会賞(論文)
     パラレルメカニズムを用いた座標計測用倣いプローブに関する研究 
    受賞者: 原田孝,董科;金丸健太
  • 2010/12 IEEE Best Conference Paper Award
     原田孝,董科;金丸健太 
    受賞者: Takashi Harada;Motoya Nagase
  • 2003/06 型技術協会奨励賞[2003.6]
  • 1998/04 日本機械学会奨励賞(技術)[1998.4]

Paper

  • Takashi HARADA; Hayato YASE
    Transactions of the JSME (in Japanese) Japan Society of Mechanical Engineers 90 (931) 23 - 00302 2024/03 [Refereed]
  • Takashi Harada; Hayato Yase
    2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) IEEE 1 - 6 2023/12 [Refereed]
  • Oleg Makarov; Takashi Harada; Hayato Yase
    Advances in Mechanism and Machine Science Springer Nature Switzerland (3) 627 - 636 2211-0984 2023/11 [Refereed]
  • Takashi Harada; Hayato Yase
    Advances in Mechanism and Machine Science Springer Nature Switzerland (1) 824 - 832 2211-0984 2023/11 [Refereed]
  • Oleg Makarov; Takashi Harada
    Ocean Engineering Elsevier BV 286 115554 - 115554 0029-8018 2023/10 [Refereed]
  • Oleg Makarov; Hayato Yase; Takashi Harada
    ROBOMECH Journal Springer Science and Business Media LLC 10 (1) 2023/07 [Refereed]
     
    Abstract The increased demand for performing crane ship modeling has led to the necessity for fast and accurate numerical experiments. This paper presents an approach for creating a numerical model of a crane vessel with a suspended load that allows for real-time control of crane parts. The model is developed in the MATLAB/Simulink environment, which makes it possible to extend it further to the user's needs. The authors describe the approach to the calculation of wave-induced ship motions, presents the Simulink block model and describes the features encountered during the simulation process. The possibility of real-time control of the position of crane parts is also shown, keeping the calculation speed of the ship hydrodynamics.
  • Hayato Yase; Takashi Harada
    2023 IEEE/SICE International Symposium on System Integration (SII) IEEE 2023/01 [Refereed]
  • Takashi HARADA
    Transactions of the JSME (in Japanese) Japan Society of Mechanical Engineers 88 (916) 21 - 00367 2022/12 [Refereed]
  • OLEG MAKAROV; TAKASHI HARADA
    Proceedings of Jc-IFToMM International Symposium, 2022 5 (5) 95 - 102 2022/07
  • Jian Huang; Hiroaki Ashida; Yuetong He; Noriho Koyachi; Takashi Harada
    Journal of Robotics and Mechatronics Fuji Technology Press Ltd. 34 (1) 18 - 27 0915-3942 2022/02 [Refereed]
     
    In recent years, different types of commercial rollators or gait-training devices have been widely used by elderly people, suffering from dementia, for their daily activities to avoid being bedridden. However, the effectiveness of most of these commercial devices has not been investigated thoroughly. In this study, a novel rollator with a freely rotating chest pad, integrated with two angular sensors and two load cells, was developed. Walk measurements were carried out on four young healthy subjects who performed walk tests using the developed rollator. To measure the motion of the lower limbs, two goniometers were attached to the exteriors of both the knees, and two more were attached to the exteriors of both the ankle joints of the subjects. The results of the pressing forces on the pad measured by the load cells, pad rotations, knee extensions, and ankle rotations were demonstrated. Frequency analyses were performed and correlation coefficients were computed for the obtained results. The relationship between the pad rotation and the motion of the lower limbs was investigated, and the effectiveness of the developed novel rollator in walk assistance was discussed.
  • Takashi Harada
    Journal of the Robotics Society of Japan The Robotics Society of Japan 39 (9) 807 - 810 0289-1824 2021/09 [Invited]
  • Takashi Harada; Naomichi Tanaka; Takayuki Fujitsuka
    International Journal of Automation Technology Fuji Technology Press Ltd. 15 (3) 366 - 374 1881-7629 2021/05 [Refereed][Invited]
     
    A novel plastic injection mold design for a product with a deep arc-hole based on the kinematic analysis is proposed. To move the wide angle arc-core, a hybrid mechanism combining a slider-crank and a swing cam is designed. The force transmission coefficient of the slider-crank and the pressure angle of the swing cam are used to evaluate the dimensions of the mechanism. The motion of the designed mechanism was confirmed by using a prototype made with a 3D printer.
  • Takashi Harada; Yuta Kunishige
    ROMANSY 23 - Robot Design, Dynamics and Control Springer International Publishing 405 - 413 0254-1971 2020/09 [Refereed]
  • Takashi HARADA; Yuto NAKAMURA
    Transactions of the JSME (in Japanese) Japan Society of Mechanical Engineers 86 (889) 20 - 00155 2020/09 [Refereed]
  • 田中直道; 原田 孝; 藤塚 孝征
    型技術 35 (7) 58 - 59 2020/07
  • Koki HIROSATO; Takashi HARADA
    Transactions of the JSME (in Japanese) Japan Society of Mechanical Engineers 86 (887) 20 - 00003 2020/07 [Refereed]
  • Hiroyuki Kawamura; Shimon Tasaka; Atsutoshi Ikeda; Takashi Harada; Yuji Higashimoto; Kanji Fukuda
    Journal of physical therapy science Society of Physical Therapy Science 32 (4) 297 - 302 0915-5287 2020/04 [Refereed]
     
    [Purpose] Discrimination between end-feel types is difficult, and years of clinical experience is considered a factor for improving the accuracy of the discrimination. The present study investigated whether the accuracy of classification of end-feel types improves with the increase in years of clinical experience. [Participants and Methods] In total, 44 therapists (range of years of clinical experience: 1-26 years) and 13 students were included. The participants identified the type of end feel simulated by our newly developed simulator. The proportion of correct answers of the therapists was compared with that of the students. For the therapists, years of clinical experience and their awareness of end feel were examined, and their relationships with the ability to classify end-feel types were analyzed. [Results] The therapists showed a higher ability to identify end-feel type than the students. The ability of the therapists improved according to their years of clinical experience. The cutoff values for years of clinical experience to improve the ability for identifying bone-to-bone, muscular, and tissue approximations were 15, 6, and 15, respectively. The therapists who were always conscious about end feel were associated with a higher ability to classify end-feel types. [Conclusion] Our present study demonstrated that the ability to classify end feel improves with the increase in years of clinical experience.
  • Takashi Harada
    International Journal of Mechanical Engineering and Robotics Research 9 (1) 106 - 110 2020/01 [Refereed]
  • Shimon Tasaka; Takashi Harada; Hiroyuki Kawamura; Kanji Fukuda; Atsutoshi Ikeda
    2019 IEEE International Conference on Systems, Man and Cybernetics (SMC) IEEE 2019-October 4101 - 4106 1062-922X 2019/10 [Refereed]
     
    Physical therapist (PT) emphasizes their haptic feedback during diagnosing patient symptoms. However, there is no standardized method to quantitatively assess PT's haptic sensation. In this paper, we report the difference of the haptic sensation between experts and novices using the end-feel training robot. The training robot is driven by the combination of the motor torque (controllable force) and the spring force (uncontrollable force). We employ three kinds of force protocol which imitates human end-feel reaction force. In the subjective experiment, the PTs are presented the reaction forces from the training robot and answered the most similar end-feel. We divide the PTs into two groups based on the similarity score using K-means++. The PTs are clearly classified into the high score group and the low score group. Depending on to the questionnaire, the PTs in the high score group worked long years and treated motor system disease patients mainly. This result indicates that our scoring method utilizing the training robot can evaluate the PT's haptic sensation quantitatively.
  • Non-slipping Conditions of Endless-Cable Driven Parallel Robot by New Interpretations of the Euler-Eytelwein’s Formula
    Takashi Harada; Koki Hirosato
    Cable-Driven Parallel Robots 23 - 34 2019/07 [Refereed]
  • Analysis of Cable-Configurations of Kinematic Redundant Planar Cable-Driven Parallel Robot
    Koki Hirosato; Takashi Harada
    Cable-Driven Parallel Robots,Mechanisms and Machine Science 74 35 - 45 2019/06 [Refereed]
  • Jian Huang; Noriho Koyachi; Hiroaki Ashida; Takashi Harada
    2019 IEEE 5th International Conference on Mechatronics System and Robots (ICMSR) IEEE 2019/05 [Refereed]
  • Rei Tsuchihara; Takashi Harada
    Proceedings of The 8th International Conference on Manufacturing, Machine Design and Tribology 2019/04 [Refereed]
  • Koki Hirosato; Takashi Harada
    Proceedings of The 8th International Conference on Manufacturing, Machine Design and Tribology 2019/04 [Refereed]
  • Takashi Harada; Toru Makino
    Transactions of the JSME (in Japanese) 84 (866) 1 - 19 2018/10 [Refereed]
  • Kengo Fujii; Takashi Harada
    Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics 1900 - 1905 2017/12 [Refereed]
  • Takashi Harada; Jorge Angeles
    Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics 1328 - 1333 2017/12 [Refereed]
  • Takashi Harada
    ACM International Conference Proceeding Series Association for Computing Machinery 18 - 22 2017/10 [Refereed][Invited]
     
    Parallel robot has excellent characteristics such as high speed, high precision and high rigidity. However, mechanical collisions between limbs, and complexly existing singular configurations restrict its workspace. In this paper, firstly, methods for expanding the translational workspace of the parallel robot are discussed. Parallel robot has multiple solutions of the inverse and forward kinematics. By changing its configurations from one solution to another, the parallel robot can expand its translational workspace. However, conventional non-redundant parallel robot encounters singularity during the mode change. Singularity free mode changes of the parallel robot by redundant actuation and asymmetrical design are introduced. Next, methods for expanding the rotational workspace of the parallel robot are shown. In order to achieve the large rotation, mechanical gimmicks by gears, pulleys, and helical joints have been embedded in the moving part. A differential screw-nut mechanism for expanding the rotational workspace of the parallel robot is introduced.
  • 3Dプリンターを利用した小児用義手「Raptor hand」の作製経験
    糸数 万紀; 池田 篤俊; 原田 孝; 福田 寛二
    The Japanese Journal of Rehabilitation Medicine (公社)日本リハビリテーション医学会 54 (秋季特別号) S269 - S269 1881-3526 2017/09 [Refereed]
  • 原田孝
    機械の研究 養賢堂 69 (3) 203 - 211 0368-5713 2017/03 [Invited]
  • Toru Makino; Takashi Harada
    ACM International Conference Proceeding Series Association for Computing Machinery 117 - 120 2016/12 [Refereed]
     
    A novel 6 dof 8 cable-driven parallel robot (CDPR) is proposed. The proposed robot is redundantly driven by 8 cables. By the rotational mechanism inside the moving part (MP), the proposed CDPR has two redundancy, kinematic redundancy and actuation redundancy. The kinematic redundancy contributes to avoiding collisions between cables, and the actuation redundancy is used for control the cables' tensions. The proposed CDPR has large workspace by avoiding the cables' collisions, and high precision by keeping the tensions of all cables as positive values. In this paper, control method for avoiding the cables' collisionsby the kinematic redundancy is discussed in detail. Copyright is held by the owner/author(s). Publication rights licensed to ACM.
  • Takashi Harada; Kengo Fujii
    ACM International Conference Proceeding Series Association for Computing Machinery 104 - 107 2016/12 [Refereed]
     
    A novel differential screw drive mechanisms for 2-dof (onerotational and one-translational) drive system is proposed in this paper. The proposed screw is named as Gaudi-inspired screw, because the shape of the screw is similar to the double helix columns by Antoni Gaudi. Kinematics, geometry, and prototyping the Gaudi-inspired screw is introduced in this paper. Firstly, kinematics about differential screw drive mechanism, including the Gaudi-inspired screw, is introduced. The Gaudi-inspired screw is overlapped helix of the right and left helix of a square. Geometrical characteristics and shapes of the cross sections of the screw are discussed in detail. Plans for making the screw and the nuts by 3D printing, cutting, form grinding, wire-cut EDM and die-sink EDM are introduced. The Gaudi-inspired screw and the nuts were prototyped by 3D printing and by cutting.
  • Takashi Harada
    International Journal of Materials, Mechanics and Manufacturing 4 (2) 123 - 125 1793-8198 2016/05 [Refereed]
  • Takashi Harada
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE SAGE PUBLICATIONS LTD 230 (3) 454 - 462 0954-4062 2016/02 [Refereed]
     
    A novel parallel mechanism which enlarges the workspace by singularity-free mode changes is proposed. The proposed mechanism has inherited the design of Linear DELTA, three translational degree-of-freedom and the moving plate driven by three linear actuators. In addition, the mechanism is extended by redundant actuation by four linear actuators and asymmetric design. New criterions about redundancy and singularity of redundantly actuated parallel mechanism using summation and product of determinants of minor matrices of the transposed Jacobian matrix are proposed. Redundant actuation and asymmetric design enables singularity-free mode changes with loss redundancy but maintains non-singularity, which is evaluated by the proposed criterions. Numerical simulations demonstrate the singularity-free mode changes of the proposed mechanism.
  • Takashi Harada
    2015 3RD INTERNATIONAL CONFERENCE ON CONTROL, MECHATRONICS AND AUTOMATION (ICCMA 2015) E D P SCIENCES 42 03003-1 - 03003-5 2261-236X 2016 [Refereed]
     
    A novel redundantly actuated parallel robot for mold polishing work is proposed. Cogging-less direct drive motors are implemented in the prototype. Instead of using conventional spherical sliding bearings, ball bearings with appropriate preload are implemented in the rolling pairs of the prototype. These mechanical parts enable fine force control for mold polishing work. The rated force of the robot perpendicular to the surface on the workpiece is 20 N with a tangential force of 5 N, which enable the robot to execute polishing tasks as well as skilled workers. In addition, the polishing velocity along the tangential direction is 60 m/min, which exceeds skilled workers' velocity of 10 m/min. High speed feed contributes to reducing the polishing force and improving the quality of the surface of the mold. Kinematics, statics, dynamics and control of redundantly actuated parallel robot are discussed in this paper. Impedance control was implemented to the prototype for stably executing the mold polishing work.
  • Takashi Harada
    Applied Mechanics and Materials Trans Tech Publications Ltd 575 711 - 715 1662-7482 2014 [Refereed]
     
    A novel parallel mechanism which enlarges the workspace by singularity-free mode change is proposed. The proposed mechanism is inherited the design of Linear DELTA which has three degree-of-freedom translational moving plate driven by three linear actuators, in addition, extended it by redundantly actuation by four linear actuators and asymmetric design. New criterions about redundancy and singularity of redundantly actuated parallel mechanism using summation and product of determinants of minor matrices of the transposed Jacobian matrix are proposed. Redundantly actuation and asymmetric design enables singularity-free mode changes with loss redundancy but maintain non-singularity, that are evaluated by the proposed criterions. Numerical simulations demonstrate the singularity-free mode changes of the proposed mechanism. © (2014) Trans Tech Publications, Switzerland.
  • Takashi Harada; Jorge Angeles
    TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING CSME TRANS 38 (2) 173 - 183 0315-8977 2014 [Refereed]
     
    A novel architecture for a parallel Schonflies motion generator was recently proposed, consisting of a CRRHHRRC linkage. The novelty of this architecture lies in its simplicity, as it comprises only two limbs, thereby forming a single-loop closed kinematic chain. Reported in this paper is a realization of this architecture, intended for the production of a proof-of-concept prototype. The realization includes an innovative actuator mechanism, which is based on two-degree-of-freedom cylindrical joints. Moreover, its moving plate is coupled to the two limbs by means of corresponding coaxial H pairs. The paper focuses on the kinematics and singularity analysis of this robot, intended for fast pick-and-place operations. The prototype is currently under development at McGill University's Centre for Intelligent Machines.
  • Takashi Harada; Thomas Friedlaender; Jorge Angeles
    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) IEEE 6338 - 6344 1050-4729 2014 [Refereed]
     
    The quest for ever faster pick-and-place robots has led to ingenious parallel robots with reduced mobility, e.g., capable of producing motions proper of SCARA systems: three independent translations and one rotation about an axis of fixed direction. These robots are also known as Schonflies-motion generators (SMG). Some parallel versions are commercially available, as are serial-parallel designs. The former are provided with four limbs, the latter with three, the fourth degree of freedom being appended in series with a Delta robot. Parallel robots are more attractive than their hybrid counterparts, but the presence of four legs poses serious challenges to their designers, as limb-interference limits the rotatability of the moving plate. A solution to this problem includes a gear train for rotation-range amplification, but this increases the inertial load on the motors and complicates the design-too many parts-and the control-because of inherent gear backlash and Coulomb friction. Recently, a SMG system was proposed that is supplied with two limbs, arrayed in an isostatic structure, which provides high rotatability of its gripper. This robot is driven by one C (cylindrical)-joint at each limb. As this joint allows for two degrees of freedom, it calls for two motors, that might as well be fixed to the base, which poses interesting design challenges. Reported in this paper is a design solution for the drive of a C joint, which is termed the C (cylindrical)-drive, based on a cylindrical differential mechanism of the RHHR type, with R standing for revolute, H for helical (or screw) joint. The design, kinematics and dynamics of the drive are discussed, along with a realization, and preliminary tests.
  • Takashi Harada; Podi Liu
    ISRN Robotics 2013 (Article ID 593606) 1 - 8 2013/09 [Refereed]
  • Takashi Harada; Ke Dong; Tomoyuki Itoigawa
    International Journal of Precision Engineering and Manufacturing 13 (8) 1387 - 1394 1229-8557 2012/08 [Refereed]
     
    A 3-dof active scanning probe using a translational parallel mechanism (TPM) is proposed. The TPM proposed in this study employs a small touching force control and can be used as a probing device for coordinate measurement, working within an area of a few cubic millimeters. In this paper, the characteristics of the mechanism, optimization of design, prototyping, and accuracy of the TPM are introduced. In the proposed optimization TPM design, the manipulability of the mechanism is equal in all directions. This implies that the positional sensitivities of the TPM share an isotropic relationship. The positional resolution of the mechanism becomes less than 1.0 μm in a cubic working range with side length of 1.6 mm. An experimental mechanism using the proposed design is introduced. In order to evaluate the accuracy of the TPM, we have developed an experimental system for the measurement of the position of the TPM using image processing. By applying mechanical parameters calibration, the accuracy of the absolute position of the TPM has been improved to 3.4 μm. © KSPE and Springer 2012.
  • Takashi Harada; Ke Dong; Kenta Kanamaru
    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 78 (787) 826 - 841 0387-5024 2012 [Refereed]
     
    A 3-dof active scanning probe using a translational parallel mechanism (TPM) is proposed. In this paper, the characteristics of the mechanism, optimum design, prototyping, and accuracy of the TPM are introduced. In the proposed optimum TPM design, the manipulability of the mechanism is equal in all directions. This implies that the positional sensitivities of the TPM share an isotropic relationship. The positional resolution of the mechanism becomes 0.58 μm in a cubic working range with side length of 1.6 mm. An experimental mechanism using the proposed design is introduced. Relationships between positioning errors and mechanical parameters of the TPM are revealed by applying the error propagation analysis. In order to evaluate the accuracy of the TPM, we have developed an experimental system for the measurement of the position of the TPM using image processing. By applying mechanical parameters calibration, the accuracy of the absolute position of the TPM has been improved to 3.4 μm. © 2012 The Japan Society of Mechanical Engineers.
  • Internal and External Force Measurement of a Redundant Parallel Mechanism by Axial Force Sensors
    Podi Liu; Tomoya Uchikoshi; Daichi Higashi; Takashi Harada
    Proceedings of The 2011 IEEE International Conference on Robotics and Biomimetics 2011/12 [Refereed]
  • ねじ状砥石を用いた歯車創成研削加工の面性状計算方法
    原田孝; 石川敦史
    先端加工学会誌 29 (1) 82 - 87 2011/06 [Refereed]
  • Mechanical Design and Control of 3-DOF Active Scanning Probe Using Parallel Link Mechanism
    Takashi Harada; Ke Dong
    International Journal of Automation Technology 5 (2) 86 - 90 2011/03 [Refereed]
  • Takashi Harada; Ke Dong
    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 2756 - 2761 2011 [Refereed]
     
    A 3-dof active scanning probe using a translational parallel mechanism (TPM) is proposed. In this paper, the characteristics of the mechanism, optimum design, prototyping, and accuracy of the TPM are introduced. In the proposed optimum TPM design, the manipulability of the mechanism is equal in all directions. This implies that the positional sensitivities of the TPM share an isotropic relationship. The positional resolution of the mechanism becomes 0.58 μm in a cubic working range with side length of 1.6 mm. An experimental mechanism using the proposed design is introduced. In order to evaluate the accuracy of the TPM, we have developed an experimental system for the measurement of the position of the TPM using image processing. By applying mechanical parameters calibration, the accuracy of the absolute position of the TPM has been improved to 3.4 μm. © 2011 IEEE.
  • Tomoya Uchikoshi; Takashi Harada
    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 2002 - 2007 2011 [Refereed]
     
    A redundantly actuated 3-degrees-of-freedom (xyθ) planar parallel mechanism with back-flip motion (PM BFM) is proposed. The back-flip motion means that the end plate of the parallel mechanism rotates more than 180 degrees. In this paper, firstly, mechanical features of the PM BFM are revealed. Secondly, a parallel drive system of linear motors is applied to the PM BFM. This parallel drive system is a driving method in which two linear motors on two stators are driven by a single servo amplifier. Features of the parallel drive system are revealed. Finally, the peculiar mechanical interference of the PM BFM is analyzed. © 2011 IEEE.
  • DESIGN AND CONTROL OF 3-DOF ACTIVE SCANNING PROBE USING PARALLEL LINK MECHANISM
    Takashi Harada; Ke Dong
    Proceedings of 10th International Symposium on Measurement and Quality Control 2010 (E2) 1 - 4 2010/09 [Refereed]
  • Takashi Harada; Motoya Nagase
    2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 501 - 506 2010 [Refereed]
     
    The impedance control of a 3-degree-of-freedom (DOF) xyθ planar parallel link mechanism (PLM) with four redundant actuators, i.e., a 3D4M PLM, is proposed. The impedance control requires forward kinematics, which gives the position and orientation of the end effector of the PLM. The notable link arrangement of the 3D4M PLM makes it easy to derive the forward kinematics, which have been difficult to derive for conventional parallel links. In addition, the relations of static forces, including the internal force through redundant actuation, are derived. Using the forward kinematics, formulas of the impedance control that take into consideration the internal force of the 3D4M PLM are derived. Based on the design of decoupled dynamics, an experimental system of the 3D4M PLM is developed. A PLM is constructed on linear motors in which four moving parts are individually driven on one stator part. Workspace impedance control achieved by force command is implemented in the experimental system using a digital signal processor (DSP) based real time controller. Experimental responses of free damped vibrations to impedance control are compared with corresponding theoretical responses. © 2010 IEEE.
  • Takashi Harada; Motoya Nagase
    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C Japan Society of Mechanical Engineers 76 (770) 2656 - 2662 0387-5024 2010 [Refereed]
     
    Impedance control of a 3D4M parallel link mechanism (PLM), a 3 degree of freedom (xyθ) planar parallel link mechanism with redundant 4 actuators, is proposed. The impedance control requires the forward kinematics, which gives position and orientation of the end plate of parallel link mechanism. The notable link arrangement of the 3D4M PLM makes it easy to derive the forward kinematics, which have been difficult to derive the conventional parallel links. By using the forward kinematics, formulas of the impedance control of the 3D4M PLM were derived. Based on the previous report about the design of decoupled dynamics, experimental system of the 3D4M PLM was developed. A parallel link mechanism was constructed on linear motors in which 4 moving parts were individually driven on one stator part. Workspace impedance control achieved by force commands were implemented in the experimental system using a DSP based real time controller. Experimental responses of free vibrations to impedance control were compared with corresponding theoretical responses.
  • Takashi Harada
    JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING JAPAN SOC MECHANICAL ENGINEERS 4 (2) 492 - 503 1881-3054 2010 [Refereed]
     
    A robust measurement method for measuring the vertex position of a small polyhedron using 3D image processing is proposed. The shape from focus method is applied for obtaining 3D positions of surfaces of the polyhedron. The in-focus function is usually averaged for reducing noise, but the resultant function lacks sharp edge information of the target. The position of the vertex is indirectly calculated from 3D data using the geometrical model of the polyhedron. In this study, relationships between measurement noise and ( a) the appropriate number of data values required for averaging of focal measurement and (b) the area of data fitted by the Gaussian function are investigated. Then, error propagation analysis is applied to the equations of the indirect measurement of the vertex position. By using the geometrical characteristics of the polyhedron, the vertex position measurement is made robust against measurement errors. The effectiveness of the proposed method is confirmed by numerical simulations and experiments.
  • Motoya Nagase; Takashi Harada
    Proceedings of the 5th International Conference on LEM21 The Japan Society of Mechanical Engineers 179 - 182 2009/12 [Refereed]
     
    In this study, we developed parallel link mechanisms by using multi-drive linear motors. Kinematics, dynamics, and control method of a three-degree-of-freedom (xyθ) planar parallel link mechanism with four redundant moving parts (3D4M mechanism) were investigated. A prototype of the 3D4M mechanism, which has decoupled dynamic characteristics, was developed. A notable kinematic characteristic of this mechanism was observed: the forward kinematics equation can be easily obtained by this mechanism. Workspace impedance control achieved by a force command was implemented in the prototype using a DSP based real time controller. Experimental responses of free vibrations to impedance control were compared with corresponding theoretical responses.
  • Takashi Harada; Motoya Nagase
    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS IEEE 1974 - 1979 2009 [Refereed]
     
    In this paper, parallel link mechanisms for multi drive linear motors (MDLMs) are proposed. The multi drive is a control method for linear motors in which a number of moving parts are individually driven on one stator part. Various configurations of parallel link mechanisms which were constructed for MDLMs are proposed. These mechanisms offer a wide range of motion in addition to the existing characteristics that parallel mechanisms provide, namely, rigid mechanisms, high precision, and high speed. Moreover, they are suitable for force control because of their low friction direct drive actuators. In this paper, the kinematic and dynamic characteristics of 2-DOF (xy) and 3-DOF (xy theta) planar parallel link mechanisms are investigated. A singularity analysis and internal force control method for a 3-DOF with 4 redundant moving parts is derived. The condition of dynamic decoupling and the constant inertia design of a 2-DOF with 2 moving parts and a 3-DOF with 4 moving parts are derived. The effectiveness of these analyses is then confirmed by numerical simulation. Based on this analysis, a prototype of the 3-DOF with 4 moving parts is designed and developed.
  • Takashi Harada; Motoya Nagase
    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C Japan Society of Mechanical Engineers 75 (758) 2729 - 2734 0387-5024 2009 [Refereed]
     
    Parallel link mechanisms with multi drive linear motors (MDLMs) were proposed. The multi drive is a control method of linear motors that multi moving parts are individually driven on one stator part. Various configurations of parallel link mechanisms were constructed on the MDLMs were proposed. The proposed mechanisms have additional features of wide moving area in addition to the original characteristics of the parallel mechanisms such as rigid mechanisms, high precision and high speed. More over, they are suitable for force control because of low friction direct drive actuators. In this paper, kinematics and dynamics characteristics of 2-DOF (xy) and 3-DOF (xyθ) planar parallel link mechanisms were investigated. Singularity analysis and internal force control method of the 3-DOF with 4 moving parts redundant mechanism were derived. Condition of a dynamics decoupling and constant inertia design of the 2-DOF with 2 moving parts and 3-DOF with 4 moving parts were derived. Effectiveness of those analyses was confirmed by numerical simulation. Basic on the analysis, prototype of the 3-DOF with 4 moving parts parallel link mechanism was designed and developed.
  • Takashi Harada
    ADVANCES IN ABRASIVE TECHNOLOGY XI TRANS TECH PUBLICATIONS LTD 389-390 83 - 89 1013-9826 2009 [Refereed]
     
    A robust measurement method for vertex position of a small polyhedron using 3D image procession is proposed. Shape from focus method is applied for getting 3D positions on surfaces of the polyhedron. Averaging of in-focus function is usually applied for reducing noises, but it lacks sharp edge information of the target. The position of the vertex is indirectory calculated from the 3D data using geometrical model of the polyhedron. In this paper, relations between measurement noise and appropriate number of data for averaging of focal measurement, and area of data for fitting of the Gaussian function were investigated. Then, error propagation analysis is applied to the equations of the indirect measurement of the vertex position. By using the geometrical characteristics of the polyhedron; measurement of the vertex position became robust against the measurement errors. Effectiveness of the proposed method was confirmed by numerical simulation and experimental result for measurement of a vertex of a small polyhedron.
  • 原田 孝
    日本機械学会論文集(C編) The Japan Society of Mechanical Engineers 74 (743) 1734 - 1739 0387-5024 2008/07 [Refereed]
     
    A robust measurement method for vertex position of a small polyhedron using 3D image procession is proposed. Shape from focus method is applied for getting 3D positions on surfaces of the polyhedron. Averaging of in-focus function is usually applied for reducing noises, but it lacks sharp edge information of the target. The position of the vertex is indirectory calculated from the 3 D data using geometrical model of the polyhedron. In this paper, relations between measurement noise and appropriate number of data for averaging of focal measurement, and area of data for fitting of the Gaussian function were investigated. Then, Error propagation analysis is applied to the equations of the indirect measurement of the vertex position. By using the geometrical characteristic of the polyhedron, measurement of the vertex position became robust against the measurement errors. Effectiveness of the proposed method was confirmed by numerical simulation and experimental result for measurement of a vertex of a small polyhedron.
  • 3 DOF Scanning Probe using Parallel Link Mechanism
    Takashi Harada; Noritsgu Adachi
    Proceedings of the EUSPEN International Conference 189 - 192 2008/05 [Refereed]
  • K. パナート; 三好 隆志; 高谷 裕浩; 原田 孝; 砂金 総一郎
    日本機械学会論文集(C編) The Japan Society of Mechanical Engineers 72 (718) 1730 - 1737 0387-5024 2006/06 [Refereed]
     
    The extremely precise level of cutting work's demand has been increasing, recently. Therefore, the establishment of a supreme measurement technology for micro endmills during operating on ultra-precision machining center plays an important role in many micro fabrication industries. The "Diffraction Gauge Method", a novel measuring technique based on far field laser diffraction, has been proposed to measure cutting edge profiles of micro tools (φ<500μm) with repeatability of better than 100 nm even though on machine surroundings. In this paper, cutting edge profile measurement of worn micro endmills (φ300μm), which operated side milling on graphite work material, is carried out. Agreement of the measured profiles with SEM image confirms the high accuracy of the measurement technique. Subsequently, the tool wear evaluations in various cutting lengths of micro endmills before and after cutting notify the relationship between increase in tool wears and cutting length. These experimental results verify the validity of our novel micro endmill measurement technique, which can be applied into ultra-precision machining center in the near future.
  • 仲田 慎平; 森脇 一郎; 盛田 幸雄; 原田 孝; 濱野 昭宏
    日本機械学会論文集(C編) 71 (712) 3554 - 3560 2005/12 [Refereed]
  • Panart KHAJORNRUNGRUANG; Takashi MIYOSHI; Yasuhiro TAKAYA; Takashi HARADA; Soichiro ISAGO
    Proceedings of The 3nd International Conference on Leading Edge Manufacturing in 21st Century The Japan Society of Mechanical Engineers 2005.2 351 - 356 2005/10 [Refereed]
     
    The Diffraction Gauge Method, a novel measuring technique based on far-field laser diffraction, has been proposed to measure cutting-edge profiles of micro cutting tools with repeatability of better than 100nm even though on-machine surroundings. In this article, the cutting-edge profile measurements of worn micro endmills (φ300μm) are carried out. Agreement of the tool cutting-edge profiles measured by our method with the image observed by SEM certifies the accuracy of the measurement technique. Furthermore, the automated measurement on the tools is demonstrated for a purpose of duplicating on-machine measurement. Then, wear growth on micro tools are also investigated. The measurement results suggest that the method is available to evaluate the micro tool cutting-edge profiles as an ultra precision on-machine measurement.
  • K. パナート; 三好 隆志; 高谷 裕浩; 原田 孝; 砂金 総一郎
    日本機械学会論文集(C編) The Japan Society of Mechanical Engineers 70 (700) 3556 - 3563 0387-5024 2004/12 [Refereed]
     
    A new optical measuring method of cutting edge profiles with a few nanometerresolutions for micro milling tool is proposed. The edge profile is scaled by the width between the first order maxima in a diffraction pattern, which relates to the spacing of a slit-type aperture formed between a reference knife-edge and a tool cutting-edge. The technique is applicable for on-machine measurement due to simplicity and long working distance of the optical system. In this paper, first, the theoretical analysis reveals the measurement resolution, and then the proposal of laser diffraction gauge method is mentioned. Next, the calibratability and the practicability of our technique are affirmed with fundamental experiments. Furthermore, experimental verifications are carried out for commercial tools such as straight-flute and helical-flute of micro endmills. Subsequently, excellent agreement of the profiles, which are measured with our developed experimental systems, with an image from scanning ion microscope verifies that the proposed method is efficient to accurately measure cutting-edge profiles.
  • Khajournrungruang, P; Takashi Miyoshi; Yasuhiro Takaya; Takashi Harada; Soichiro Isago
    Proceedings of International Conference on Leading Edge Manufacturing in 21st Century The Japan Society of Mechanical Engineers 2003 113 - 118 2003/11 [Refereed]
     
    A new optical measuring method of edge profiles with a few nanometer resolution for micro cutting tool is proposed. The edge profiles are scaled by the measurable width between the first two maxima in diffraction patterns, which relate to the width of a slit-type aperture formed between a reference knife-edge and a tool cutting-edge. This technique is applicable for on-machine measurement due to simplicity and long working distance of the optical system. In this paper, first, the theoretical analysis reveals the measurement resolution. Next, the scalability and the practicability of the method are affirmed by the fundamental experiments. Furthermore, the experimental verifications are carried out for practical tools such as straight and helical flute cutting tools. Subsequently, good agreement of profiles measured by developed experimental apparatus with a scanning ion microscope image verifies that the proposed method is efficient to accurately measure cutting-edge profiles.
  • Takashi Harada; Takashi Miyoshi; Yasuhiro Takaya
    Proceedings of International Conference on Leading Edge Manufacturing in 21st Century The Japan Society of Mechanical Engineers 2003 107 - 112 2003/11 [Refereed]
     
    Error estimation and compensation algorithm for tooth form grinding works of a helical gear is proposed. Tooth profile ground by a formed wheel is modeled by truing parameters and setting parameters of the grinding wheel. Actual tooth form is measured by a touch probe on the machine. The truing and setting parameters are estimated by fitting the modeled surface to the measurement data as the distances between the modeled surface and the measurement points coincide with the probe radius. Error propagation analysis from measurement errors to the estimation errors of the parameters is applied and suggests robust measurement algorithm. The proposed method was applied to the actual grinding process. The truing and setting errors were measured and compensated within 10 micrometers.
  • T Harada; K Kotani; T Miyoshi
    JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING JAPAN SOC MECHANICAL ENGINEERS 44 (2) 360 - 366 1340-8062 2001/06 [Refereed]
     
    Robust error compensation algorithm for tooth furor grinding works of an involute spur gear is proposed. The proposed algorithm is insensitive for the measurement error of the tooth form profile data. Relationship between indirect measurement quantity; the grinding error and direct measurement quantity; the tooth profile data are expressed by an implicit function. Error propagation analysis for the implicit model is derived using implicit derivative of the model function. Error ellipsoid of the indirect measurement quantity, which expresses the projection of the error hyper sphere of the direct measurement quantity, is defined. By taking the structural restrictions of the grinding error model into the least square calculation of the error estimation, the primary axis length of the error ellipsoid became smaller, which means the algorithm became more insensitive fur the measuring error. Proposed algorithm was implemented on an in-process measuring system with personal computer. Accurate grinding error compensation was confirmed by experimental results.
  • Takashi Harada; Kazuhiro Kotani; Takashi Miyoshi
    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 65 (640) 4801 - 4806 0387-5024 1999 [Refereed]
     
    An error compensation method for tooth form grinding works of an involute helical gear is proposed. Not only setting errors of a grinding wheel but also truing errors of it are concerned into the machining model. Profiles of tooth form are measured by a touch sensor, which is attached on the NC grinding machine. Distance between the profile data and tooth surface is expressed by nonlinear equations with constraints of implicit functions. The truing error and the setting error of the grinding wheel are derived as the distance between the actual tooth form profile data and the model tooth surface equal to the probe radius. Jacobian matrix, which is used in least square calculation for the error estimation, is derived by applying higher order differentials of the nonlinear equations and the implicit functions. The proposed algorithm was confirmed by numerical simulation. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.
  • Takashi Harada; Kazuhiro Kotani; Takashi Miyoshi
    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 65 (637) 3772 - 3777 0387-5024 1999 [Refereed]
     
    Robust error compensation algorithm for tooth form grinding works of an involute spur gear is proposed. The proposed algorithm is insensitive for the measuring error of the tooth form profile data. Relationship between indirect measuring quantity the grinding error and direct measuring quantity the tooth profile data are expressed by an implicit function. Error propagation analysis for the implicit model is derived using implicit derivative of the model function. Error ellipsoid of the indirect measuring quantity which express the projection of the error hyper sphere of the direct measuring quantity is defined. By taking the structural restrictions of the grinding error model into the least square calculation of the error estimation, the primary axis length of the error ellipsoid became smaller, which means the algorithm became more insensitive for the measuring error. Proposed algorithm was implemented on a in-process measuring system with personal computer. Accurate grinding error compensation was confirmed by experimental results. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.
  • 原田 孝; 小谷 和広; 三好 隆志
    日本機械学会論文集(C編) The Japan Society of Mechanical Engineers 64 (626) 4009 - 4014 0387-5024 1998/10 [Refereed]
     
    An error compensation method for tooth form grinding works of an involute spur gear using a grinding wheel formed on the machine is proposed. Coordinate systems are set on the tooth form and workpiece. Forming and positioning error of the grinding wheel cause the position and orientation error of these coordinate systems, while keeping the figure of the tooth form involute curves. Profiles of tooth form and workpiece are measured by a touch sensor which is attached on the NC grinding machine. Nominal curve of the tooth form and the workpiece are fitted on the probed data using least square curve matching. Difference between the nominal and the actual relations of these coordinates is compensated as forming error of the grinding wheel and grinding positioning error. The proposed algorithm was confirmed by numerical simulation.
  • Kaoru Sano; Takashi Harada; Morita, A; Yotsumoto, S; Tada, T
    システム制御情報学会論文誌 THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE) 8 (9) 509 - 511 1342-5668 1995/09 [Refereed]
  • 原田 孝; 西田 吉晴; 永岡 英明; 木邑 信夫
    日本機械学会論文集(C編) 60 (569) 225 - 230 1994/01 [Refereed]
  • Robust Impedance Control and Its Application to Peg Insertion
    Takashi Harada; Yoshiharu Nishida; Hideaki Nagaoka; Nobuo Kimura
    Advanced Technologies in Robotics, Mechatronics and Manufacturing Systems, 339 - 344 1993/01 [Refereed]
  • Robust Impedance Control for Robot Manipulator
    Yoshiharu Nishida; Takashi Harada; Nubuaki Imamura; Nobuo Kimura
    Journal of Robotics and Mechatronics 3 (6) 470 - 470 1991/12 [Refereed]
  • 本家 浩一; 井上 喜雄; 原田 孝; 白澤 淳; 伊藤 廣
    日本機械学会論文集(C編) The Japan Society of Mechanical Engineers 57 (534) 631 - 634 0387-5024 1991/02 [Refereed]
     
    As the motor which drives a robot arm produces d torque ripple effect, the resulting resonance vibration in the robot arm impedes the robot's high locus precision. To counteract this problem, using software servo, a correction signal which cancels the torque ripple is fed into the system, and this eliminates resonance vibration. The method for this procedure is presented in this paper. For the derivation of this correction signal, the theory for single-plane balancing of rotor vibration may be applied, which makes it possible to derive the correction signal accurately and systematically. Experimental testing in which this technique was applied to a robot of one degree of freedom was performed. The experimental results adequately verified the effectiveness of this technique.

MISC

Books and other publications

  • Kinematics (chapter 5:How to Expand the Workspace of Parallel Robots)
    Takashi Harada Intech 2017/12 9789535136880
  • 大学課程 機構学
    稲田 重男; 森田 鈞; 長瀬 亮; 原田 孝 (Joint work)オーム社 2016/11
  • In Tech, Numerical Analysis(chapter 18:Kinetostatics and Dynamics of Redundantly Actuated Planar Parallel Link Mechanisms)
    原田 孝 (Joint work)2011/09

Lectures, oral presentations, etc.

  • 原田 孝
    日本機械学会 第37回マルチボディダイナミクス研究会プログラム  2024/01
  • 原田 孝; 八瀬 快人
    日本機械学会2023年度年次大会  2023/09
  • Development of five-axis robot with Remote Center of Motion mechanism for non-destructive testing  [Not invited]
    Egor Kuzmin; Takashi Harada; Hayato Yase; Seiya Okuda
    日本機械学会ロボティクス・メカトロニクス部門講演会2023  2023/06
  • スクリュー理論を用いた2プレート6自由度パラレルメカニズムのモビリティ解析  [Not invited]
    原田孝; 八瀬快人
    日本機械学会ロボティクス・メカトロニクス部門講演会2023  2023/06
  • 歩行時体幹保持力を支援するための人工筋肉制御システムの構築  [Not invited]
    八瀬快人; 佐々木大輔; 門脇惇; 原田孝; Egor Kuzmin
    日本機械学会ロボティクス・メカトロニクス部門講演会2023  2023/06
  • Simulation of cargo lifting and landing operations with real-time interactive control of a numerical model of a floating crane  [Not invited]
    Oleg Makarov; Takashi Harada; Hayato Yase
    The 9th International Conference on Manufacturing, Machine Design and Tribology  2023/03
  • Development of a five-axis robot for non-destructive testing with remote center of motion manipulator  [Not invited]
    Kuzmin Egor; Tahashi Harada; Hayato Yase
    The 9th International Conference on Manufacturing, Machine Design and Tribology  2023/03
  • Actuators and Mechanisms Focusing on Slow and Fast Mescles for Trunk Rotation Assist Wearable Devices  [Not invited]
    Hayato Yase; Daisuke Sasaki; Jun Kadowaki; Takashi Harada
    The 9th International Conference on Manufacturing, Machine Design and Tribology  2023/03
  • Takashi Harada
    The 9th International Conference on Manufacturing, Machine Design and Tribology  2023/03
  • Takashi Harada; Junji Furusho
    日本機械学会2022年度年次大会  2022/09
  • Takashi Harada
    日本機械学会ロボティクス・メカトロニクス部門講演会2022  2022/06
  • 原田 孝; 大窪 晃平
    第20回機素潤滑設計部門講演会  2021/12
  • 原田 孝; 大窪 晃平
    日本機械学会2021年度年次大会  2021/09
  • 原田 孝
    日本機械学会2021年度年次大会・先端技術フォーラム  2021/09
  • 原田 孝; 古荘 純次
    日本機械学会ロボティクス・メカトロニクス 講演会2021  2021/06
  • 原田 孝; 大野 稜馬
    第21回システムインテグレーション部門講演会  2020/12
  • 広里 光樹; 原田 孝; 道岡 武信
    日本機械学会2020年度年次大会  2020/09
  • 田中直道; 原田 孝; 藤塚 孝征
    型技術者会議2020  2020/06
  • 一ノ本 将冴; 原田 孝; 広里 光樹
    日本機械学会ロボティクス・メカトロニクス 講演会2020  2020/05
  • 広里光樹; 原田 孝
    日本機械学会ロボティクス・メカトロニクス 講演会2020  2020/05
  • 手先位置とワイヤ張力を同時制御する自動配線ロボットの開発  [Not invited]
    小川楓弥; 原田 孝
    日本機械学会ロボティクス・メカトロニクス 講演会2020  2020/05
  • 槌原怜生; 原田 孝
    日本機械学会ロボティクス・メカトロニクス 講演会2020  2020/05
  • 原田 孝; 國重優太
    日本機械学会ロボティクス・メカトロニクス 講演会2020  2020/05
  • 國重 優太; 原田 孝
    第20回計測自動制御学会システムインテグレーション部門講演会  2019/12
  • 瀧澤敦史; 原田孝
    第20回計測自動制御学会システムインテグレーション部門講演会  2019/12
  • 1軸回転可能な胸部支持パッド型歩行車によ る歩行計測と解析  [Not invited]
    蘆田 宏明; 阿部 凌輔; 黄 健; 小谷内 範穗; 原田 孝
    第37回日本ロボット学会学術講演会  2019/09
  • 田村 将太郎; 原田 孝
    第37回日本ロボット学会学術講演会  2019/09
  • 差動ベルトとRCMを用いた5軸ガントリー型ロボットの開発
    大野稜馬; 原田 孝
    日本機械学会ロボティクス・メカトロニクス 講演会2019  2019/06
  • 駆動型一軸回転可能な胸部支持パッドを有する歩行車の開発  [Not invited]
    蘆田宏明; 黄健; 小谷内範穗; 原田孝
    日本機械学会ロボティクス・メカトロニクス 講演会2019  2019/06
  • 槌原怜生; 原田 孝
    日本機械学会ロボティクス・メカトロニクス 講演会2019  2019/06
  • 原田 孝; 柏本陽和
    日本機械学会ロボティクス・メカトロニクス 講演会2019  2019/06
  • 様々な把持形態による力覚トレーニングに向けたハプティックAR機構を内蔵したロボットアーム
    田坂 梓紋; 原田 孝; 河村 廣幸; 福田寛二; 池田 篤俊
    日本機械学会ロボティクス・メカトロニクス 講演会2019  2019/06
  • 広里 光樹; 原田 孝
    日本機械学会ロボティクス・メカトロニクス部門講演会2019  2019/06
  • ミニチュア差動駆動機構のための Gaudi-inspired ネジの幾何学と製作方法  [Not invited]
    原田孝; 藤井賢吾
    日本機械学会2018年度年次大会  2018/09
  • 可動部にプーリを組み込んだ平面 3 自由度運動学 的冗長ケーブル駆動パラレルロボットの運動学  [Not invited]
    広里光樹; 原田孝; 牧野達
    日本機械学会2018年度年次大会  2018/09
  • Haptic Perception Characteristics of Physical Therapists during End-feel Presenting  [Not invited]
    Takashi Harada
    Shimon TASAKA,Takashi HARADA,Hiroyuki KAWAMURA,Kanji FUKUDA,Athutoshi IKEDA,  2018/06  小倉  日本機械学会
  • Shape creation of Gaudi-inspired screw with ruled surface  [Not invited]
    Takashi Harada; Kengo Fujii
    日本機械学会ロボティクス・メカトロニクス部門講演会2018  2018/06  小倉  日本機械学会
  • Posture optimization for the family of the kinematic redundant parallel robots with rotational mechanisms embedded in the moving part  [Not invited]
    Takashi Harada; Toru Makino
    日本機械学会ロボティクス・メカトロニクス部門講演会2018  2018/06  小倉  日本機械学会
  • ループケーブルを用いたケーブル駆動パラレルロボットにおける駆動部の静力学  [Not invited]
    牧野達; 原田孝
    日本ロボット学会学術講演会  2017/09  川越市
  • Mechanical classifications and synthesis of differential screw drive systems  [Not invited]
    Takashi Harada
    日本機械学会2017年度年次大会  2017/09  埼玉  日本機械学会
  • 運動学的冗長性と駆動冗長性を有するパラレルロボットの 冗長性を利用したモーションコントロール  [Not invited]
    原田孝
    日本機械学会ロボティクス・メカトロニクス部門講演会2017  2017/05  福島県郡山市
  • Gaudi-inspired差動ネジ駆動機構の研究  [Not invited]
    藤井賢吾; 原田孝
    日本機械学会ロボティクス・メカトロニクス部門講演会2017  2017/05  福島県郡山市
  • 出力節にプーリを組み込んだケーブル駆動パラレルロボットのWrench-closure条件と機構設計  [Not invited]
    牧野 達; 原田孝
    日本機械学会ロボティクス・メカトロニクス部門講演会2017  2017/05  福島県郡山市
  • 差動ベルト駆動と差動ネジ対偶を用いたXYZθパラレルロボット  [Not invited]
    原田孝
    第1回ロボデックス 産学連携ロボットフォーラム  2017/01  東京ビッグサイト
  • 理学療法士の訓練のためのエンドフィール提示ロボット  [Not invited]
    有元 公平; 原田 孝; 河村 廣幸; 福田 寛二; 池田 篤俊
    第17回 公益社団法人 計測自動制御学会 システムインテグレーション部門 講演会 SI2016  2016/12  札幌市
  • 近大ものづくり工房を拠点とする教育・研究の産学連携  [Invited]
    原田孝
    型技術ワークショップ2016 in なにわ  2016/11  大阪
  • 運動学的冗長性を用いたケーブル駆動パラレルロボットのケーブル姿勢制御方法  [Not invited]
    牧野 達; 原田 孝
    日本機械学会2016年度年次大会  2016/09  福岡市
  • 差動ネジ対偶と差動ベルト駆動を用いたXYZθパラレルロボットの提案  [Not invited]
    原田 孝; 牧野 達
    日本機械学会ロボティクス・メカトロニクス部門講演会2016  2016/06  横浜市
  • 6自由度8ケーブル駆動パラレルロボットの開発  [Not invited]
    牧野 達; 原田 孝
    日本機械学会ロボティクス・メカトロニクス部門講演会2016  2016/06  横浜市
  • 理学療法士のトレーニングのためのハプティックAR技術を用いたエンドフィール提示装置  [Not invited]
    池田 篤俊; 原田 孝; 河村 廣幸; 福田 寛二
    日本機械学会ロボティクス・メカトロニクス部門講演会2016  2016/06  横浜市
  • Design of a Novel 6 dof Parallel Robot for Haptic Device  [Not invited]
    Takashi Harada; Toru Makini
    12th International Conference on Ubiquitous Healthcare  2015/11  Osaka
  • Development of a Cable-Driven Parallel Robot for Force Display  [Not invited]
    Toru Makino; Takashi Harada
    12th International Conference on Ubiquitous Healthcare  2015/11  Osaka
  • 運動学的冗長性と駆動冗長性を合わせ持つ6自由度パラレルメカニズムの運動学  [Not invited]
    原田 孝; 牧野 達
    日本機械学会2015年度年次大会  2015/09  札幌市
  • 運動学的冗長性と駆動冗長性を合わせ持つ2アーム6自由度パラレルロボットの提案  [Not invited]
    原田孝
    日本機械学会ロボティクス・メカトロニクス部門講演会2015  2015/05  京都市
  • Proposal on the Transition Configurations for Three Degrees of Freedom Planar Redundantly Actuated Parallel Mechanism  [Not invited]
    原田 孝
    日本機械学会ロボティクス・メカトロニクス部門講演会  2013/05  つくば  日本機械学会ロボティクス・メカトロニクス部門講演会
     
    本研究は平面3自由度冗長駆動パラレルメカニズムの姿勢遷移による動作領域の拡張を目的とし,冗長駆動に特化した姿勢遷移方法を提案することを目標とする複数の順運動学解間の姿勢遷移(アセンブリモード変化)である逆折れ動作に対して,姿勢遷移中の特異姿勢を回避する方法を提案する.はじめに,PRRRPサブメカニズムの機構特性を利用して,順逆運動学解の導出と姿勢遷移の状態定義を行う.次に,冗長駆動パラレルメカニズムの特異姿勢解析を2-PRRRPメカニズムへ適用し,逆折れ動作中の特異姿勢を回避する姿勢遷移方法を提案する.実験装置にて,提案した姿勢遷移方法を実現する結果を示す.
  • 軸力センサを用いた平面3自由度冗長駆動パラレルメカニズムの内力と外力の計測  [Not invited]
    原田 孝
    2011/12  京都市
  • パラレルメカニズムを用いた座標計測用倣いプローブに関する研究(リンク機構の設計と機構キャリブレーション)  [Not invited]
    原田 孝; 元; 元
    2011/05  岡山市
  • バック転パラレルリンク機構に関する研究(機構解析とプロトタイプの試作)  [Not invited]
    原田 孝
    2011/05  岡山市
  • マルチ駆動リニアモータを用いたパラレルリンク機構に関する研究 (第5報:誤差伝播解析によるキャリブレーションの高精度化)  [Not invited]
    原田 孝
    2011/05  岡山市
  • 水平3自由度冗長駆動バック転パラレルリンク機構の運動学  [Not invited]
    打越友哉; 原田 孝
    日本機械学会 第8回生産加工・工作機械部門講演会2010  2010/11  岡山市  日本機械学会 第8回生産加工・工作機械部門講演会2010
  • 画像計測を用いた超砥粒電着砥石の形状・性状同時計測  [Not invited]
    勝瑞直人; 原田 孝; 吉村誠一
    日本機械学会 第8回生産加工・工作機械部門講演会2010  2010/11  岡山市  日本機械学会 第8回生産加工・工作機械部門講演会2010
  • リニアモータを用いた下肢リハビリロボットの開発(下肢筋インピーダンスの測定)  [Not invited]
    水口拓郎; 原田 孝
    日本機械学会ロボティクスメカトロニクス部門講演会2010  2010/07  旭川市  日本機械学会ロボティクスメカトロニクス部門講演会2010
  • マルチ駆動リニアモータを用いたパラレルリンク機構に関する研究 (第4報:機構パラメータのセルフキャリブレーション)  [Not invited]
    原田 孝
    日本機械学会ロボティクスメカトロニクス部門講演会2010  2010/07  旭川市  日本機械学会ロボティクスメカトロニクス部門講演会2010
  • マルチ駆動リニアモータを用いたバック転パラレルリンク機構の最適設計  [Not invited]
    打越友哉; 原田 孝
    精密工学会2010年度関西地方学術講演会  2010/05  京都市  精密工学会2010年度関西地方学術講演会
  • ねじ状砥石による歯車研削加工の形状および面性状の解析シミュレーション  [Not invited]
    石川敦史; 原田 孝
    日本機械学会生産システム部門講演会2010  2010/03  東京都  日本機械学会生産システム部門講演会2010
  • 3自由度パラレルリンク機構を用いた座標計測装置の誤差解析  [Not invited]
    董 科; 原田 孝
    2009年度精密工学会秋季大会  2009/09  神戸市  2009年度精密工学会秋季大会
  • e-nuvo WALK ver.3 を用いた大学機械工学系の創成教育プログラム  [Not invited]
    原田 孝
    第一回「実践!ロボット教育・研究フォーラム」  2009/07  東京都  第一回「実践!ロボット教育・研究フォーラム」
  • 2足歩行ロボットを教材とした大学機械工学系の創成教育プログラム  [Not invited]
    原田 孝; 大坪 義一; 橋本 知久; 鈴木 直弥
    日本機械学会ロボティクスメカトロニクス部門講演会2009  2009/05  福岡市  日本機械学会ロボティクスメカトロニクス部門講演会2009
  • マルチ駆動リニアモータを用いたパラレルリンク機構のプロトタイプの開発  [Not invited]
    庄司 嵩; 原田 孝; 長瀬元哉
    精密工学会2009年度関西地方学術講演会  2009/05  大阪  精密工学会2009年度関西地方学術講演会
  • 2足歩行ロボットを教材とした大学機械工学系の創成教育プログラム  [Not invited]
    原田 孝; 大坪 義一; 鈴木 直弥; 橋本 知久
    日本機械学会ロボティクス・メカトロニクス講演会  2009/05  日本機械学会(福岡)  日本機械学会ロボティクス・メカトロニクス講演会
     
    基礎ゼミ2で行っている2足歩行ロボットを用いた教育プログラムについて発表を行った。
  • マルチ駆動リニアモータを用いたパラレルリンク機構に関する研究(第3報:冗長自由度のインピーダンス制御)  [Not invited]
    長瀬元哉; 原田 孝; 庄司嵩
    日本機械学会ロボティクスメカトロニクス部門講演会2009  2009/05  福岡市  日本機械学会ロボティクスメカトロニクス部門講演会2009
  • パラレルリンク3自由度スキャンニングプローブに関する研究(第3報 リンク機構の低摺動化と高精度化)  [Not invited]
    董 科; 原田 孝
    精密工学会2009年度関西地方学術講演会  2009/05  大阪  精密工学会2009年度関西地方学術講演会
  • リニアモータを用いた下肢リハビリロボットの開発  [Not invited]
    杉本 絢司; 原田 孝; 足立 悠真; 水口 拓郎; 嘉村 直樹; 橋川 悠輝
    日本機械学会関西支部第84期定時総会講演会  2009/03  大阪  日本機械学会関西支部第84期定時総会講演会
  • マルチ駆動リニアモータを用いたパラレルリンク機構に関する研究(第2報:機構と制御の開発)  [Not invited]
    長瀬元哉; 原田 孝; 庄司 嵩; 松尾佑治; 中内雅人
    日本機械学会関西支部第84期定時総会講演会  2009/03  大阪  日本機械学会関西支部第84期定時総会講演会
  • ねじ状砥石を用いた歯車研削加工シミュレーション  [Not invited]
    石川敦司; 原田 孝; 勝瑞 正人; 吉川徹哉
    日本機械学会関西支部第84期定時総会講演会  2009/03  大阪  日本機械学会関西支部第84期定時総会講演会
  • Error Analysis and Robust Position Measurement for Vertex Position of a Small Polyhedron  [Not invited]
    原田 孝
    International Symposium on Advances in Abrasive Technology 2008  2008/10  Hyogo, Japan  International Symposium on Advances in Abrasive Technology 2008
  • マルチ駆動リニアモータを用いたパラレルリンク機構に関する研究(第1報:機構の形態と力学モデル)  [Not invited]
    原田 孝
    日本機械学会ロボティクスメカトロニクス部門講演会2008  2008/06  長野市  日本機械学会ロボティクスメカトロニクス部門講演会2008
  • 3DOF Scanning Probe using Parallel Link Mechanism  [Not invited]
    原田 孝
    EUSPEN International Topical Conference  2008/05  Zurich  EUSPEN International Topical Conference
  • マルチ駆動リニアモータを用いたパラレルメカニズムの機構解析  [Not invited]
    原田 孝
    日本機械学会関西支部第83期定時総会講演会  2008/03  豊中市  日本機械学会関西支部第83期定時総会講演会
  • パラレルリンク3自由度スキャンニングプローブに関する研究(第2報 実験装置の試作とアクティブスキャンニング用制御アルゴリズム)  [Not invited]
    原田 孝
    2008年度精密工学会春季大会  2008/03  川崎市  2008年度精密工学会春季大会
  • パラレルリンクアクティブスキャンニングプローブの機構と制御に関する研究  [Not invited]
    原田 孝
    日本機械学会関西支部第83期定時総会講演会  2008/03  豊中市  日本機械学会関西支部第83期定時総会講演会
  • 合焦法を用いた多面体頂点位置のロバスト計測  [Not invited]
    原田 孝
    日本機械学会2007年度年次大会  2007/09  吹田市  日本機械学会2007年度年次大会
  • パラレルリンク3自由度スキャンニングプローブに関する研究(第1報 リンク機構の最適設計)  [Not invited]
    原田 孝
    2007年度精密工学会秋季大会  2007/09  旭川市  2007年度精密工学会秋季大会
  • 光トポグラフィ装置を用いた運動状態の評価  [Not invited]
    原田 孝
    日本機械学会2007年度年次大会  2007/09  吹田市  日本機械学会2007年度年次大会
  • プランジカットシェービングのコンピュータシミュレーション(歯面上の接触予測による計算時間短縮)  [Not invited]
    仲田 慎平; 盛田 幸雄; 濱野 昭宏; 原田 孝; 森脇 一郎
    日本機械学会機素潤滑設計部門MPT2004シンポジウム講演会  2004/11  大阪 大阪工業大学  日本機械学会機素潤滑設計部門MPT2004シンポジウム講演会
  • 極小径工具切れ刃プロファイルの光回折オンマシン計測法の開発  [Not invited]
    K.パナート; 三好 隆志; 高谷 裕浩; 原田 孝; 砂金 総一郎
    2004年度砥粒加工学会学術講演会  2004/09  草津市 立命館大学  2004年度砥粒加工学会学術講演会
  • 光回折による小径工具切れ刃の断面プロファイル計測法に関する研究(第2報)―工具回転振れの誤差解析―  [Not invited]
    K.パナート; 三好 隆志; 高谷 裕浩; 河 兌坪; 原田 孝; 砂金 総一郎
    2004年度精密工学会春季大会学術講演会  2004/03  東京 東京大学  2004年度精密工学会春季大会学術講演会
  • A Robust Measurement for Tooth Form Ggrinding Works of a Helical Gear  [Not invited]
    原田 孝; 三好 隆志; 高谷 裕浩
    International Conference on LEM in 21st Century  2003/11  Niigata, Japan  International Conference on LEM in 21st Century
  • 穴研削加工条件の最適化  [Not invited]
    原田 孝
    2003年11月度関西品質工学研究会  2003/11  大阪市  2003年11月度関西品質工学研究会
  • Lazer Diffraction Edge Profile Method of Micro Cutting Tool for On-Machine Measurement  [Not invited]
    K.パナート; 三好 隆志; 高谷 裕浩; 高橋 哲; 原田 孝; 砂金 総一郎
    International Conference on LEM in 21st Centur  2003/11  Niigata, Japan  International Conference on LEM in 21st Centur
  • Novel edge profile measurement of micro cutting tool by laser diffraction  [Not invited]
    K.パナート; 三好 隆志; 高谷 裕浩; 高橋 哲; 原田 孝; 砂金 総一郎
    EUSPEN International Topical Conference  2003/05  Aschen, Germany  EUSPEN International Topical Conference
  • 小径工具プロファイルの光回折オンマシン計測に関する研究  [Not invited]
    K.パナート; 三好 隆志; 高谷 裕浩; 高橋 哲; 原田 孝; 砂金 総一郎
    2003年度精密工学会春季大会学術講演会  2003/03  2003年度精密工学会春季大会学術講演会
  • 小径工具プロファイルの光回折オンマシン計測に関する研究(光回折ゲージ法の提案)  [Not invited]
    K.パナート; 三好 隆志; 高谷 裕浩; 高橋 哲; 原田 孝; 砂金 総一郎
    日本機械学会 第4回生産加工・工作機械部門講演会講演会  2002/11  犬山市  日本機械学会 第4回生産加工・工作機械部門講演会講演会
  • レーザ回折法による小径工具切れ刃先端の3次元プロファイル計測  [Not invited]
    高谷 裕浩; K.パナート; 三好 隆志; 高橋 哲; 原田 孝; 砂金 総一郎
    第16回型技術者会議2002  2002/06  東京  第16回型技術者会議2002
  • 光回折による小径工具切れ刃の断面プロファイル計測法に関する研究(第1報)―ねじれ刃の精度に及ぼす影響―  [Not invited]
    K.パナート; 三好 隆志; 高谷 裕浩; 高橋 哲; 原田 孝; 砂金 総一郎
    2002年度精密工学会春季大会学術講演会  2002/03  東京 東京工業大学  2002年度精密工学会春季大会学術講演会
  • 光回折による小径工具の断面プロファイル計測法に関する研究(理論解析と基礎実験)  [Not invited]
    K.パナート; 三好 隆志; 高谷 裕浩; 高橋 哲; 原田 孝; 砂金 総一郎
    日本機械学会 第3回生産加工・工作機械部門講演会  2001/11  神奈川  日本機械学会 第3回生産加工・工作機械部門講演会
  • 歯車歯形成形研削加工誤差のオンマシン計測について  [Not invited]
    原田 孝
    第567回近畿歯車懇話会  2000/06  明石市  第567回近畿歯車懇話会
  • 測定誤差を考慮したヘリカル歯形の成形研削誤差計測  [Not invited]
    原田 孝; 三好 隆志; 高谷 裕浩; 小谷和弘
    1999年精密工学会秋季大会学術講演会  1999/11  仙台市 東北大学  1999年精密工学会秋季大会学術講演会
  • 歯車歯形の成形研削加工のインプロセス誤差補正  [Not invited]
    原田 孝
    日本機械学会 歯車の高精度・高能率加工と運転性能に関する調査研究分化会  1999/07  福岡市 九州大学  日本機械学会 歯車の高精度・高能率加工と運転性能に関する調査研究分化会
  • In-Process Error Compensation for Involute Spur Gear Tooth Form Grinding Works  [Not invited]
    原田 孝; 三好隆志; 高谷裕浩; 小谷和弘
    IMEKO-XV World Congress  1999/06  Osaka, Japan  IMEKO-XV World Congress
  • 測定誤差にロバストな歯車歯形の成形研削加工誤差計測法  [Not invited]
    原田 孝; 三好 隆志; 高谷 裕浩; 小谷和弘
    1998年精密工学会秋季大会学術講演会  1998/11  札幌市 北海道大学  1998年精密工学会秋季大会学術講演会
  • インボリュートヘリカル歯形の成形研削誤差補正法  [Not invited]
    原田 孝; 三好隆志; 小谷和弘
    日本機械学会第75期通常総会講演会  1998/03  東京 東京工業大学  日本機械学会第75期通常総会講演会

Research Themes

  • Japan Society for the Promotion of Science:Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)
    Date (from‐to) : 2021/04 -2024/03 
    Author : 原田 孝
     
    2021年度は,『極小径超長リード差動ネジ機構を搭載する広可動域ミニチュアパラレルロボットの開発』のブレークスルーとなる,軸径(D)1mm~2mm以下,進み角60度程以上,ネジ長さL/D=20(ネジ長さLが軸径Dの20倍)以上の極小径・超長リード・大アスペクト比差動ネジ機構の開発に取り組んだ. 差動ネジ機構は,ネジ部とナット部で構成される.我々は軸直角断面が正方形の左右ネジのオーバーラップ形状であるネジを用いた2入力2出力の差動駆動機構を提案し,そのネジ形状は建築家Gaudiの設計様式である二重らせん構造に類似しているためにGaudiネジと命名している.Gaudiネジのネジ面の曲率半径は一般的なネジ溝と比較して大きいために,半径の大きいボールエンドミルを用いた切削加工が可能であり,小径化かつ長リード化に適している.小径大アスペクト比の機械部品の切削加工時のたわみを抑制するために,先端部から根元部にかけて荒加工と仕上加工を段階的に行う工法を着想し,高精度5軸マシニングセンタを用いてアルミ合金を切削加工し,正方形断面の1辺2mm,進み角58度,全長40mm(L/D=20)のミニチュアGaudiネジの実加工に成功した.本研究成果に関して,日本機械学会 2021年度年次大会(2021年9月)で講演を行った. また,上記ネジにかみ合う正方形断面の1辺が2mmの右,左ナットの開発を実施した.正方形断面のねじれ溝に沿ってナットを4分割加工して組み合わせる工法を着想し,高精度5軸マシニングセンタを用いてアルミ合金を切削加工した.分割ナットを組込むハウジングは別途光造形3Dプリンタを用いて製造した,製造したナットは上記ミニチュアGaudiネジと組み合わせて差動ネジ機構として動作しうることを検証した.本研究成果に関して,日本機械学会 機素潤滑設計部門講演会 (2021年12月)にて講演を行った.
  • Japan Society for the Promotion of Science:Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)
    Date (from‐to) : 2019/04 -2023/03 
    Author : 古荘 純次; 池田 篤俊; 川平 和美; 菅 俊光; 畑迫 健一; 原田 孝; 森岡 周; 原口 真
     
    上肢リハビリ支援システムの本格的実用化を目指している。 差動ループベルトと差動ネジを組み合わせた新しい4自由度直交型パラレル機構を提案してきた。これまでは,数式計算ソフトウエアを用いて、動力学と拘束条件の混合微分方程式であるマルチボディシステム動力学を応用して、提案したロボットシステムの運動方程式を数式的に導出した.2021年度は,マルチボディダイナミクス用数値計算ソフトウエアの一つであるSimscape Multibodyを用いて提案する機構の動的解析を行った。 高価で 大きなリハビリ支援システムは、一部で使用されているが、本格的な 実用化には至っていない。リハビリ専門病院を除くと、一般病院・医院、老健施設、介護施設等は、大きく高価な装置の導入は困難である。また、上肢リハビリ支援システム以外に、多種の装置を置く必要があるため、小型で収容性の良いシステムが望まれる。そこで、回転 plus リニア型システム、およびリニア型システムの開発を行った。 リンク型の力覚提示システム・位置入力システムやリハビリ支援システム等の設計においては、慣性力の影響を考慮する必要がある。そこで、力学モデルによる理論解析を行い、数値計算を行い、評価方法を提案した。次に、特性改善方法を提案し、閉リンクモデルが優れていることを示した。 次に、閉リンクモデルの実験装置を作成し、予備実験を行った。実験では、特性の改善が見られ、ヒューマンインターフェイスとして優れていることが分かった。
  • 公益財団法人NSK メカトロニクス技術高度化財団:メカトロニクス技術高度化「研究助成」
    Date (from‐to) : 2019/04 -2021/03
  • Japan Society for the Promotion of Science:Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)
    Date (from‐to) : 2018/04 -2021/03 
    Author : Harada Takashi
     
    A cable-driven parallel robot controls the position and orientation of its moving part by changing the length of multiple cables connected to the moving part. This type of robot has excellent characteristics of fast movement of the low weight moving part and the wide translational operating range by using a long cable. It is used for moving stadium cameras, etc. However, there is a problem that the cables interfere with each other when the movable part is rotated, and the rotational operating range is limited. In this research, we proposed a new robot that realizes infinite rotation of the rotary pulley embedded in the moving part and frictionally driving the pulley using an endless cable, and designed it based on mechanical analysis. The method was established and verified by numerical calculation and basic experiments.
  • Japan Society for the Promotion of Science:Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)
    Date (from‐to) : 2015/04 -2018/03 
    Author : Harada Takashi
     
    A novel two-limb six-degrees-of-freedom (dof) parallel robot redundantly driven by eight actuators is proposed. The mechanism of the robot has a two-layer structure in which the eight-dof actuators control the six-dof hand via the seven-dof internal mechanism. The first part of the hierarchy from the eight-dof actuators to the seven-dof internal mechanism has actuation redundancy, and the second part of the hierarchy from the seven-dof internal mechanism to the six-dof hand has kinematic redundancy. The kinematic redundancy contributes to singularity avoidance, while the actuation redundancy contributes to backlash removal by acting on the internal forces of the mechanism. The validity was verified by numerical calculations and the prototyping. A novel differential screw drive systems and differential belt drive systems are also developed as related researches of this project.
  • Japan Society for the Promotion of Science:Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)
    Date (from‐to) : 2012/04 -2016/03 
    Author : Furusho Junji; ABE Hiroya; ISHIDA Keiji; KAWATANI Ryouji; KUMAGAI Nozomi; KOBAYASHI Yasutaka; NISHIO Koichi; NISHIMURA Haruhiko; HACHISUKA Kenji; HARADA Takashi; YAMANISHI Teruya; WADA Futoshi; KAWAHIRA Kazumi; KOYANAGI Ken'ichi; HAYAKAWA Kiyoshi; HARAGUCHI Makoto; ODA Kunihiko; MORIMOTO Shoji; TAKAMI Tomoyuki; KOYANAGI Maki; FUJIKAWA Tomohiko; JEONG Seonghee; FUKUDA Kanji; OKADA Shima; HORIO Hiroyuki; MSUTANI Yasuhiro; YOSHIDA Haruyuki
     
    About 30% of the cause becoming bedridden is the cerebro-vascular diseases such as strokes. At present, it is a little time to be used for rehabilitation training in one day. Therefore, the semiautomating training using robotics technology is preferable for long time training. Most of the rehabilitation training robots are active type using motors. Furusho of the study representative has been conducted the study on rehabilitation training systems for upper extremities having the safety that were low cost and were safer to present force sense with brakes. In this study, new non-active type rehabilitation training systems are developed. Moreover, the basic consideration about the rehabilitation training combining the developed rehabilitation systems with various rehabilitation training technique was executed.
  • 大阪東部地域連携における先進的な金型技術の高度化研究
    文部科学省:私立大学戦略的研究基盤形成支援事業
    Date (from‐to) : 2012/04 -2015/03 
    Author : 小坂 学
  • Japan Society for the Promotion of Science:Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)
    Date (from‐to) : 2012/04 -2015/03 
    Author : HARADA Takashi
     
    A novel parallel mechanism which enlarges the workspace by singularity-free mode change is proposed. The proposed mechanism is inherited the design of Linear DELTA which has three degree-of-freedom translational moving plate driven by three linear actuators, in addition, extended it by redundantly actuation by four linear actuators and asymmetric design. New criterions about redundancy and singularity of redundantly actuated parallel mechanism using summation and product of determinants of minor matrices of the transposed Jacobian matrix are proposed. Redundantly actuation and asymmetric design enables singularity-free mode changes with loss redundancy but maintain non-singularity, that are evaluated by the proposed criterions. Numerical simulations demonstrate the singularity-free mode changes of the proposed mechanism. The singularities avoided mode changes were performed by newly developed prototype.
  • 逆折れ動作を伴うバック転・パラレルリンク機構に関する研究開発
    (財)マザック財団:研究助成
    Date (from‐to) : 2011/04 -2012/03 
    Author : 原田孝
  • Japan Society for the Promotion of Science:Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research
    Date (from‐to) : 2011 -2012 
    Author : FURUSHO Junji; KAWATANI Ryoji; ABE Hiroya; KOBAYASHI Yasutaka; FUJIKAWA Takamitsu; KOYANAGI Kenichi; HARADA Takashi; OHTA Takashi; YAMANISHI Teruya
     
    The percentage of aged persons in society and their number are increasing, and their physical deterioration has become a social problem in many countries. Early detection of function deterioration and sufficient rehabilitation training are necessary, not only to decrease the numbers of aged who are bedridden or need nursing care, but also to enable the aged to take an active part in society. So, we studied and developed rehabilitation systems for upper limbs using nano-particle MR fluid actuators. In this system, MR actuators were used for the purpose of securing high safety. The rheological properties of MR fluids are rapidly and reversibly altered under an applied magnetic field. We also studied facilitation systems by vibration using vibration actuator and MR fluidbrake. Moreover, we studied the evaluation device of synergy movement in stroke patients.
  • 広可動範囲を実現するバック転・パラレルリンク機構に関する研究開発
    (財)マザック財団:研究助成
    Date (from‐to) : 2010/04 -2011/03 
    Author : 原田孝
  • Japan Society for the Promotion of Science:Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C)
    Date (from‐to) : 2009 -2011 
    Author : HARADA Takashi
     
    A 3-dof active scanning probes using non-redundantly and redundantly actuated translational parallel mechanisms are developed. In order to improve the positioning accuracy and controlling small forces, a small parallelogram linkage with low friction joint is developed. We have developed 3D measurement system by stereo cameras for evaluating the accuracy of the parallel mechanisms. The positional resolution of the redundantly actuated mechanism becomes 0.5μm in a cubic working range with side length of 1.6 mm. By applying mechanical parameters calibration, the accuracy of the absolute position of the parallel mechanism has been improved to 2.4μm. A stable scanning motion based on the impedance control is also developed.
  • (財)NSKメカトロニクス技術高度化財団:研究助成
    Date (from‐to) : 2008/04 -2010/03 
    Author : 原田孝

Industrial Property Rights

  • 特許第5677814号:物体測定装置、物体測定方法、及び物体測定プログラム    2015/02/25
    原田 孝
  • 特許第4816205号:ブローチ盤    2011/11
    原田 孝, 吉村 元仁, 福本 順治
  • 特許第3752398号:ねじれ溝成形研削加工の補正方法及びねじれ溝成形研削加工装置    2006/03
    原田 孝
  • 特許第3634146号:砥石整形誤差補正方法及び砥石整形・直溝成形研削加工誤差補正方法並びにそれらの誤差補正装置    2005/01
    原田 孝
  • 特許第3540301号:レーザ光を用いた精密形状測定方法    2004/07
    三好 隆志, 高橋 哲, 砂金 総一郎, 原田 孝
  • 特許第3527565号:歯車計測方法及びNC歯車加工機    2004/02
    原田 孝
  • 特許第3081411号:工作機械の機械パラメータの補正方法及びその装置    2000/06
    原田 孝, 先田 力哉
  • 特許第2798518号:マニピュレ-タの制御装置    1998/03
    西田 吉晴, 原田 孝
  • 特許第2610996号:多関節ロボット制御装置    1997/02
    原田 孝, 今村 信昭