KINDAI UNIVERSITY


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HARADA Takashi

Profile

FacultyDepartment of Mechanical Engineering / Graduate School of Science and Engineering Research
PositionProfessor
Degree
Commentator Guidehttps://www.kindai.ac.jp/meikan/291-harada-takashi.html
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Mail
Last Updated :2020/04/04

Education and Career

Education

  •   1981 04  - 1985 03 , Osaka University, School of Engineering
  •   1997 04  - 2000 03 , Osaka University

Academic & Professional Experience

  •   2012 04 ,  - 現在, Professor, Faculty of Science and Engineering, Kinki University
  •   2012 09 ,  - 2013 09 , visiting professor, McGill University
  •   2006 04 ,  - 2012 03 , Associate Professor, Faculty of Science and Engineering, Kinki University

Research Activities

Research Areas

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

Published Papers

  • 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, Cable-Driven Parallel Robots, 23 - 34, Jul. 2019 , Refereed
  • Analysis of Cable-Configurations of Kinematic Redundant Planar Cable-Driven Parallel Robot, Koki Hirosato, Takashi Harada, 35 - 45, Jun. 2019 , Refereed
  • Closed-form solutions of the kinetostatics of a two-limbs six-dof parallel mechanism with kinematic and actuation redundancies, Takashi Harada, Toru Makino, Transactions of the JSME (in Japanese), Transactions of the JSME (in Japanese), 84(866), 1 - 19, Oct. 2018 , Refereed
  • Geometry of Gaudi-inspired Screw and Nut for Differential Drive Mechanism, Kengo Fujii, Takashi Harada, Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics, Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics, 1900 - 1905, Dec. 2017 , Refereed
  • From the McGill Pepper-Mill Carrier to the Kindai Atarigi Carrier, A novel two limbs six-dof parallel robot with kinematic and actuation redundancy, Takashi Harada, Jorge Angeles, Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics, Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics, 1328 - 1333, Dec. 2017 , Refereed
  • Enlargement of the Translational and Rotational Workspace of Parallel Robots, Takashi Harada, ICCMA 2017 Proceedings of the 2017 The 5th International Conference on Control, Mechatronics and Automation, ICCMA 2017 Proceedings of the 2017 The 5th International Conference on Control, Mechatronics and Automation, 18 - 22, Nov. 2017 , Refereed
  • Cable collision avoidance of a pulley embedded cable-driven parallel robot by kinematic redundancy, Toru Makino, Takashi Harada, Proceedings of the 4th International Conference on Control, Mechatronics and Automation, Proceedings of the 4th International Conference on Control, Mechatronics and Automation, 117 - 120, Dec. 2016 , Refereed
  • Geometry of Gaudi-inspired screw for differential drive mechanism, Takashi Harada, Kengo Fujii, Proceedings of the 4th International Conference on Control, Mechatronics and Automation, Proceedings of the 4th International Conference on Control, Mechatronics and Automation, 104 - 106, Dec. 2016 , Refereed
  • Mode Changes of a Planar 3 DOF Redundantly Actuated Parallel Robot, Takashi Harada, International Journal of Materials, Mechanics and Manufacturing, International Journal of Materials, Mechanics and Manufacturing, 4(2), 123 - 125, May 2016 , Refereed
  • Design and Control of a Parallel Robot for Mold Polishing, Takashi Harada, MATEC Web of Conferences, MATEC Web of Conferences, 42, 03003-1 - 03003-5, Feb. 2016 , Refereed
  • Mode changes of redundantly actuated asymmetric parallel mechanism, Takashi Harada, Journal of Mechanical Engineering Science, Journal of Mechanical Engineering Science, 230(3), 454 - 462, May 2015 , Refereed
  • Design of a Redundantly Actuated Asymmetric Linear DELTA Parallel Mechanism for Singularity-Free Mode Change, Takashi Harada, Applied Mechanics and Materials Journal, Applied Mechanics and Materials Journal, 575, 711 - 715, Jun. 2014 , Refereed
  • Kinematics and Singularity Analysis of a CRRHHRRC Parallel Schoenflies Motion Generator, Takashi Harada, Jorge Angeles, Transactions of the Canadian Society for Mechanical Engineering, Transactions of the Canadian Society for Mechanical Engineering, 38(2), 185 - 197, Jun. 2014 , Refereed
  • Design of a Redundantly Actuated Linear DELTA Parallel Mechanism for Singularity-Free Mode Changes, Takashi Harada, Proc. of MIMT2014, Proc. of MIMT2014, (M0061), Mar. 2014 , Refereed
  • Internal and External Forces Measurement of Planar 3-DOF Redundantly Actuated Parallel Mechanism by Axial Force Sensors, Takashi Harada, Podi Liu, ISRN Robotics, ISRN Robotics, 2013(Article ID 593606), 1 - 8, Sep. 2013 , Refereed
  • Kinematics and Singularity Analysis of a CRRHHRRC Parallel Schoenflies Motion Generator, Takashi Harada, Jorge Angeles, Proceedings of CCToMM M3 Symposium, 2013, Proceedings of CCToMM M3 Symposium, 2013, P12-1 - P12-12, Jun. 2013 , Refereed
  • Design Optimization of Active Scanning Probe Using Parallel Link Mechanism, Takashi Harada, Ke Dong, Tomoyuki Itoigawa, International Journal of Precision Engineering and Manufacturing, International Journal of Precision Engineering and Manufacturing, 13(8), 1387 - 1394, Aug. 2012 , Refereed
  • 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, Proceedings of The 2011 IEEE International Conference on Robotics and Biomimetics, Dec. 2011 , Refereed
  • Mechanical Design and Accuracy of A Miniatur Translational Parallel Mechanism for Active Scanning Probe, Takashi Harada, Ke Dong, Proceedings of The 2011 IEEE International Conference on Robotics and Biomimetics, Proceedings of The 2011 IEEE International Conference on Robotics and Biomimetics, 2756 - 2761, Dec. 2011 , Refereed
  • Study of Parallel Mechanism with Back-Flip Motion Applying Parallel Drive System of Linear Motors, Tomoya Uchikoshi, Takashi Harada, Proceedings of The 2011 IEEE International Conference on Robotics and Biomimetics, Proceedings of The 2011 IEEE International Conference on Robotics and Biomimetics, 2002 - 2007, Dec. 2011 , 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, 先端加工学会誌, 29(1), 82 - 87, Jun. 2011 , Refereed
  • Mechanical Design and Control of 3-DOF Active Scanning Probe Using Parallel Link Mechanism, Takashi Harada, Ke Dong, International Journal of Automation Technology, International Journal of Automation Technology, 5(2), 86 - 90, Mar. 2011 , Refereed
  • Impedance Control of a Redundantly Actuated 3-DOF Planar Parallel Link Mechanism Using Direct Drive Linear Motors, Takashi Harada, Motoya Nagase, Proceedings of The 2010 IEEE International Conference on Robotics and Biomimetics, Proceedings of The 2010 IEEE International Conference on Robotics and Biomimetics, 501 - 506, Dec. 2010 , Refereed
  • 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,冗長駆動パラレルリンク機構のインピーダンス制御, 原田 孝, 長瀬 元哉, 日本機械学会論文集(C編), 日本機械学会論文集(C編), 76(770), 2656 - 2662, Oct. 2010 , Refereed
  • 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, Proceedings of 10th International Symposium on Measurement and Quality Control 2010, (E2), 1 - 4, Sep. 2010 , Refereed
  • Robust Method for Position Measurement of Vertex of Polyhedron Using Shape from Focus, Takashi Harada, JSME International Journal of Advanced Mechanical Design, Systems, and Manufacturing,, JSME International Journal of Advanced Mechanical Design, Systems, and Manufacturing,, 4(2), 492 - 503, Mar. 2010 , Refereed
  • Impedance Control of Parallel Link Mechanism by Multi Drive Linear Motors, Motoya Nagase, Takashi Harada, Proceedings of the 5th International Conference on LEM21, Proceedings of the 5th International Conference on LEM21, 179 - 182, Dec. 2009 , Refereed
  • Configurations and Mathematical Models of Parallel Link Mechanisms Using Multi Drive Linear Motors, Takashi Harada, Motoya Nagase, Proceedings of the International Conference on Intelligent Robots and Systems, Proceedings of the International Conference on Intelligent Robots and Systems, 1974 - 1979, Oct. 2009 , Refereed
  • 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, 原田 孝, 長瀬 元哉, 日本機械学会論文集(C編), 日本機械学会論文集(C編), 75(758), 2729 - 2734, Oct. 2009 , Refereed
  • Error Analysis and Robust Position Measurement for Vertex of a Small Polyhedron, Takashi Harada, Key Engineering Materials, Key Engineering Materials, 389-390, 83 - 89, Sep. 2008 , Refereed
  • 合焦法を用いた多面体頂点位置のロバスト計測, 原田 孝, 日本機械学会論文集(C編), 日本機械学会論文集(C編), 74(743), 1734 - 1739, Jul. 2008 , Refereed
  • 3 DOF Scanning Probe using Parallel Link Mechanism, Takashi Haradaanda, Noritsgu Adachi, Proceedings of the EUSPEN International Conference, Proceedings of the EUSPEN International Conference, 189 - 192, May 2008 , Refereed
  • 小径工具切れ刃プロファイルの光回折オンマシン計測に関する研究の測定実験), 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), 日本機械学会論文集(C編), 72(718), 1730 - 1737, Jun. 2006 , Refereed
  • 歯車の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, 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), 日本機械学会論文集(C編), 71(712), 3554 - 3560, Dec. 2005 , Refereed
  • On-Machine Tool Measurement for Cutting-Edge Profile of Micro Endmill using Laser Diffraction, Panart KHAJORNRUNGRUANG, Takashi MIYOSHI, Yasuhiro TAKAYA, Takashi HARADA, Soichiro ISAGO, Proceedings of The 3nd International Conference on Leading Edge Manufacturing in 21st Century, Proceedings of The 3nd International Conference on Leading Edge Manufacturing in 21st Century, Oct. 2005 , Refereed
  • 小径工具切れ刃プロファイルの光回折オンマシン計測に関する研究, 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), 日本機械学会論文集(C編), 70(700), 3556 - 3563, Dec. 2004 , Refereed
  • Lazer Diffraction Edge Profile Method of Micro Cutting Tool for On-Machine Measurement, Khajournrungruang, P, Takashi Miyoshi, Yasuhiro Takaya, Takashi Harada, Soichiro Isago, Proceedings of International Conference on Leading Edge Manufacturing in 21st Century, Proceedings of International Conference on Leading Edge Manufacturing in 21st Century, 113 - 118, Nov. 2003 , Refereed
  • A Robust Measurement for Tooth Form Ggrinding Works of a Helical Gear, Takashi Harada, Takashi Miyoshi, Yasuhiro Takaya, Proceedings of International Conference on Leading Edge Manufacturing in 21st Century, Proceedings of International Conference on Leading Edge Manufacturing in 21st Century, 107 - 112, Nov. 2003 , Refereed
  • In-Process Error Compensation for Involute Spur Gear Tooth Form Grinding Works, Takashi Harada, Kazuhiro Kotani, Takashi Miyoshi, JSME International Journal (Series C), JSME International Journal (Series C), 44(2), 360 - 366, Jun. 2001 , Refereed
  • 歯車歯形の成形研削加工のインプロセス誤差補正に関する研究 :第3報,砥石成形誤を 考慮したヘリカル歯形の成形研削誤差補正法, 原田 孝, 小谷 和広, 三好 隆志, 日本機械学会論文集(C編), 日本機械学会論文集(C編), 65(640), 4801 - 4806, Dec. 1999 , Refereed
  • 歯車歯形の成形研削加工のインプロセス誤差補正に関する研究 : 第2報, 測定誤差にロバストな歯形誤差計測アルゴリズムとインプロセス誤差補正実験, 原田 孝, 小谷 和広, 三好 隆志, 日本機械学会論文集(C編), 日本機械学会論文集(C編), 65(637), 3772 - 3777, Sep. 1999 , Refereed
  • 歯車歯形の成形研削加工のインプロセス誤差補正に関する研究 : 第1報, 砥石成形誤差を考慮した平歯車歯形の成形研削誤差補正法, 原田 孝, 小谷 和広, 三好 隆志, 日本機械学会論文集(C編), 日本機械学会論文集(C編), 64(626), 4009 - 4014, Oct. 1998 , Refereed
  • Coarse Position Detection of a Wire Rod Coil's End, Kaoru Sano, Takashi Harada, Morita, A, Yotsumoto, S, Tada, T, システム制御情報学会論文誌, システム制御情報学会論文誌, 8(9), 509 - 511, Sep. 1995 , Refereed
  • 外乱推定オブザーバを用いたマニピュレータのロバスト・インピーダンス制御, 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), 日本機械学会論文集(C編), 60(569), 225 - 230, Jan. 1994 , 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,, Advanced Technologies in Robotics, Mechatronics and Manufacturing Systems,, 339 - 344, Jan. 1993 , Refereed
  • Robust Impedance Control for Robot Manipulator, Yoshiharu Nishida, Takashi Harada, Nubuaki Imamura, Nobuo Kimura, Journal of Robotics and Mechatronics, Journal of Robotics and Mechatronics, 3(6), 470 - 470, Dec. 1991 , Refereed
  • ロボットアームのトルクむらに起因する共振現象の制振制御, 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), 日本機械学会論文集(C編), 57(534), 631 - 634, Feb. 1991 , Refereed

Books etc

  • Kinematics (chapter 5:How to Expand the Workspace of Parallel Robots), Takashi Harada,   2017 12 , 9789535136880
  • In Tech, Numerical Analysis(chapter 18:Kinetostatics and Dynamics of Redundantly Actuated Planar Parallel Link Mechanisms), 共著,   2011 09

Conference Activities & Talks

  • Haptic Perception Characteristics of Physical Therapists during End-feel Presenting, Takashi Harada, Shimon TASAKA,Takashi HARADA,Hiroyuki KAWAMURA,Kanji FUKUDA,Athutoshi IKEDA,,   2018 06
  • Shape creation of Gaudi-inspired screw with ruled surface, Takashi Harada, Kengo Fujii,   2018 06
  • Posture optimization for the family of the kinematic redundant parallel robots with rotational mechanisms embedded in the moving part, Takashi Harada, Toru Makino,   2018 06
  • Mechanical classifications and synthesis of differential screw drive systems, Takashi Harada,   2017 09
  • Design of a Novel 6 dof Parallel Robot for Haptic Device, Takashi Harada, Toru Makini, 12th International Conference on Ubiquitous Healthcare,   2015 11
  • Development of a Cable-Driven Parallel Robot for Force Display, Toru Makino, Takashi Harada, 12th International Conference on Ubiquitous Healthcare,   2015 11
  • Proposal on the Transition Configurations for Three Degrees of Freedom Planar Redundantly Actuated Parallel Mechanism,   2013 05
  • Error Analysis and Robust Position Measurement for Vertex Position of a Small Polyhedron, International Symposium on Advances in Abrasive Technology 2008,   2008 10 , International Symposium on Advances in Abrasive Technology 2008
  • 3DOF Scanning Probe using Parallel Link Mechanism, EUSPEN International Topical Conference,   2008 05 , EUSPEN International Topical Conference
  • A Robust Measurement for Tooth Form Ggrinding Works of a Helical Gear, International Conference on LEM in 21st Century,   2003 11 , International Conference on LEM in 21st Century
  • Lazer Diffraction Edge Profile Method of Micro Cutting Tool for On-Machine Measurement, International Conference on LEM in 21st Centur,   2003 11 , International Conference on LEM in 21st Centur
  • Novel edge profile measurement of micro cutting tool by laser diffraction, EUSPEN International Topical Conference,   2003 05 , EUSPEN International Topical Conference
  • In-Process Error Compensation for Involute Spur Gear Tooth Form Grinding Works, IMEKO-XV World Congress,   1999 06 , IMEKO-XV World Congress

Misc

  • On-machine Profile Measurement of Micro Diameter Tool Cutting Edge by Means of Laser Diffraction : Development of Laser Diffraction Gauge Method, KHAJORNRUNGRUANG Panart, MIYOSHI Takashi, TAKAYA Yasuhiro, TAKAHASHI Satoru, HARADA Takashi, ISAGO Soichiro, The ... Manufacturing & Machine Tool Conference, 2002, 4, 151, 152,   2002 11 19 , http://ci.nii.ac.jp/naid/110002485458
    Summary:This paper will propose a new approach to measure helical curve profile of micro diameter tool cutting edge, especially of end mills. These are commonly used in ultra-fine cutting processing. The approach bases on applied laser diffraction, therefore it can be applied in noncontact-measurement of the changes of tool cutting diameter which relates to the accuracy and the roughness of processing surface directly. In order to realize on-machine measurement by this approach, it is necessary to consider the existence of deflection of tool rotation. Subsequently, the laser diffraction gauge metho...
  • 404 Profile Measuring Method of Micro Diameter Tool Cutting Edge by Means of Laser Diffraction : Theoretical Analysis and Fundamental Experiment, PANART Khajornrungruang, MIYOSHI Takashi, TAKAYA Yasuhiro, TAKAHASHI Satoru, HARADA Takashi, ISAGO Soichiro, The ... Manufacturing & Machine Tool Conference, 2001, 3, 105, 106,   2001 11 20 , http://ci.nii.ac.jp/naid/110002485018
    Summary:This paper will propose a new approach to measure deformation, flank wear on micro diameter tool cutting edge. In other words, we can evaluate the change of cutter diameter. Furthermore, due to this approach bases on applied laser diffraction, it can be also applied to in-process measurement. Subsequently, this theoretical analysis and fundamental experiment will show that it is available to measure cutting edge deformation, flank wear in submicrometer resolution.

Awards & Honors

  •   2016 12 , Best Presentation Award