研究一覧（2001年1月〜12月）
マシニングセンタ −最新動向と今後の課題−
奥田孝一
日刊工業新聞工作機械特集号，11-12面 (2001.3.15)
ＭＣ（マシニングセンタ）をはじめとする工作機械の技術開発において，高速化・高精度化は常に目指されてきた永遠のテーマといえる．近年は，工程集約・複合化，環境対応，情報通信技術との融合，いわゆるＩＴ化も技術開発の大きなトピックスとなっている．本稿では，技術面から見たＭＣによる加工の高速化・高精度化の現状を中心に概説し，今後の課題や期待，ＩＴ化など最近の話題にも触れる．
切削切断面のカオス特徴抽出
中西佑二，長谷川素由，奥田孝一，布引雅之
2001年度精密工学会春大会学術講演会講演論文集，p.294 (2001)
非周期的変動をする研削切断面の断面曲線のカオス解析を取り上げた．炭素鋼（S50C）を形状，送り荷重，砥石周速度を変えて定荷重研削切断し，切断面の断面曲線のカオス性の特徴抽出を行うため，加工条件の相違によって生じる断面曲線形状とカオス性判別指標の一つであるリアプノフ指数，及び相関次元との関係について見当した．
Inchwormロボットの匍匐動作における運動性能の解析
布引雅之，奥田孝一，長谷川素由，春野隆
2001年度精密工学会春大会学術講演会講演論文集，p.445 (2001)
Inchwormロボットの４つの匍匐動作(Wave, Creep, Mtype, Swing)を提案し，それぞれの移動速度と単位移動距離当たりの消費エネルギーを実験的に求め，滑らかな床面ではCreep方式が移動速度およびエネルギー効率に関して最も優れていることが分かった．
超精密切削加工における工具温度上昇と加工誤差
奥田孝一，長谷川素由，布引雅之
日本機械学会論文集（Ｃ編），Vol.67，No.656，p.1170-1175 (2001)
This paper describes the experimental analysis of temperature distribution of cutting tool during an ultra-precision diamond turning of aluminum and oxygen-free copper and the effect of cutting conditions on the temperature rise and the machining error due to the thermal expansion of cutting tool is discussed. The temperature distributions is measured by employing an infrared camera and the progress of the temperature rise at any points on the cutting tool is analyzed based on the images by using an image processing unit. The machining error, the relative displacement between the finished surface and the feed table, is measured by employing a capacitive-type proximeter. In this experimental conditions, the temperature rise at the sintered diamond tip reaches up to 15 ℃, while that at the single crystal diamond comes to approximately 5 ℃. The pattern of the temperature rise changes depending on the feed direction of the tool. The machining error is generated according to the progress of the temperature rise on the cutting tool and the magnitude becomes to an order of 1mm.
６軸多関節ロボットによる多目的研削装置の開発
奥田孝一
機械と工具，Vol.45，No.5，p.20-26 (2001)
近年の，いわゆるハイテク機器の発展に伴って，高精度部品の生産加工技術が格段に発展し，さらなる高度化，知能化が求められている．その一方で，大形鋳鋼品・鋳物部品の黒皮取り，複雑な自由曲面を持った部品の磨き加工やバリ取り加工など，いわゆる３Ｋといわれる人手による作業が数多く残されている．この分野は若手人材が育ちにくく，従って技術継承が行われにくいため，熟練度に依存しない機械化，自動化された加工システムの開発が重要な課題となっている．特別なセンサ，制御装置を用いない簡単なシステムで，黒皮削り，バリ取り，面取り，バフ仕上げ，切断を行うロボットによる多目的研削装置を開発した．本稿では，ロボットによる研削技術全般と，開発した多目的研削装置について述べる．
機械工学年鑑（2000年）加工学・加工機器
奥田孝一
日本機械学会論文集（Ｃ編），Vol.67，No.660，p.2410-2420 (2001)
2000年度における世界の加工学・加工機器部門のうち，切削加工技術に関する研究状況を，主に日本，欧米で発刊された学術専門誌における文献調査を基に要約し，概説した．
CO2パルスレーザ切断における発振波形と切断面品位に関する研究
布引雅之，奥田孝一，長谷川素由，下山昇吾
2001年度精密工学会秋季大会学術講演会講演論文集，p.143 (2001)
パルスレーザ加工において，平均出力とピーク出力がおよぼす切断面品位への影響を実験的に解析し，ピーク出力1000W以下では，カーフ幅は平均出力のみに強く依存していたが，ピーク出力が1000W以上になると，ピーク出力の影響も大きくなることが分かった．
多関節ロボットによる鋳鍛鋼材表面の自動研削加工
奥田孝一，長谷川素由，布引雅之
2001年度精密工学会秋季大会学術講演会講演論文集，p.327 (2001)
大形の鋳鋼部品，鋳物部品などの黒皮削りや磨き作業は，人手による長時間，重労働の作業であり，３Ｋの代表的作業である．生産性のみならず作業者を過酷な労働から解放するという観点から，このような作業を自動化，機械化するために多関節ロボットを用いた自動研削加工機を開発した．本装置は，特別なセンサーフィードバック制御を用いず，単純なメカニズムで不規則凹凸面に倣うようにしている．そのため，作業条件とロボットに作用する抵抗力あるいは振動の関係の把握が重要となる．本研究では，比較的大形の鋳鍛鋼材表面の黒皮除去作業において，砥石の押付け力，送り速度などの加工条件を変化させた場合の表面仕上げならびにロボットが受ける力と振動を測定した結果について報告する．
Application of Six-Joints Type Industrial Robot to Removal of Scale on Surface of Cast Steel
K. Okuda, M. Hasegawa and M. Nunobiki
Proceedings of the France-Japan Congress of Mechatronics, pp.507-512 (2001)
This study deals with the development of the grinding operation system using an articulated robot and the application to the removal of scale on the surface of large-sized cast steel. A multi-purpose grinding machine system by six-joints type of industrial robot for the operations of grinding, cutoff, polishing and buffing has been developed. The machine system mainly consists of an articulated robot, a turntable for fixing and positioning a work, an automatic tool changer with measuring station of wheel diameter and an automatic grinding wheel changer. One of the tool units prepared for some kinds of operations is installed into the robot arm. The grinding force and the vibration charged on the robot arm during machining and the finished surface were investigated and discussed.
An Investigation of Mobility of Inchworm-Type Robot
M. Nunobiki, K. Okuda, and M. Hasegawa
Proceedings of the France-Japan Congress of Mechatronics, pp.113-118 (2002)
This study deals with an inchworm-type mobile robot for purpose of searching lives in the destroyed construction or inspecting the equipments in the dangerous environments. The inchworm robot has the mobile faculty enough to walk on a floor, ascend and descend stairs, climb over a wall of 60cm height and climb up the vertical narrow path without legs or wheels. In this paper, four walking manners were proposed i.e. wave mode, worm mode, accordion mode and swing mode. The mobility of each walking manner was investigated in terms of walking velocity and consumed energy for a unit displacement.
マグネシウム合金の超精密切削加工
奥田孝一，田中努，長谷川素由，布引雅之
日本機械学会第3回生産加工・工作機械部門講演会講演論文集，pp.123-124 (2001)
This paper deals with an experimental study of ultra-precision diamond cutting of magnesium alloy (AZ31). In order to investigate the machinability such as the cutting force and the surface integrity and understand the problems in a micro cutting, the experiments on the diamond cutting of magnesium alloy and pure aluminum with an ultra-precision turning machine has been carried out. The machinability of magnesium alloy was compared with that of pure aluminum and discussed. Consequently, both the thrust force component and the surface roughness obtained by cutting of magnesium alloy became larger than that of pure aluminum. It was also found that the inclusions or the defects in the work material caused to generate the scratches on the finished surface and influenced the integrity of mirror surface.
非等方性工学表面の特徴抽出
長谷川素由，中西佑二，奥田孝一，布引雅之
姫路工業大学工学部研究報告，No.54A，pp.30-39 (2001)
This paper proposes a new method for evaluating the statistical properties of anisotropic random surface roughness which influences greatly the mechanical phenomena of the surface. This method is based on the application of ARMA theory in connection with the analysis of sea waves. The 2nd and 4th order spectral moments of the profile can be estimated by the ARMA. Then, the surface spectral moments can be also calculated by the profile spectral moments. By use of these parameters, a new method for evaluating the three dimensional characterization of machined random surface is presented. This method is proved to be useful by the comparison with experimental results obtained by the Belt Sanded surface.
砥石作業面トポグラフィ観察装置の試作
中西佑二，長谷川素由，奥田孝一，布引雅之
姫路工業大学工学部研究報告，No.54A，pp.40-43 (2001)
It is generally recognized that the surface topography has influences greatly the characteristics of grinding phenomena such as the feasibility of cutting edges and the wear of a wheel. A new laser system for measuring the constant load cut-off wheel topography is set up to investigate these grinding phenomena. It is clarified that a new designed measuring system has a power to research the grinding wheel topography with large peak to valley height up to about 1000 μm.
定荷重研削切断加工における砥石の摩耗特性
中西佑二，長谷川素由，奥田孝一，布引雅之
姫路工業大学工学部研究報告，No.54A，pp.44-49 (2001)
This paper deals with the cumulative stochastic process model of wear characteristics of the abrasive cut-off wheel under the constant load system and proposes the mathematical expression of the distribution corresponding to such process when it can be assumed to be Markovian. The wear was measured by the cumulative volume of wheel consumed as a function of the grinding time and the number of cuts against the S50C steel. It was shown that the stochastic model of cumulative wear volume can be described by the accumulation Markov Process. This paper also discussed the hazard rate of the cutting edges.
CO2パルスレーザ切断における切断面品位に関する研究
布引雅之，奥田孝一，長谷川素由，下山昇吾
姫路工業大学工学部研究報告，No.54A，pp.50-54 (2001)
Although laser beam cutting has been widely employed for sheet metal processing, the mechanism of laser cutting is only partially clarified due to its complexity. Especially, the cutting process of pulse laser is more complex than CW laser cutting, because of many of the factor to be considered. This study clarified the influence of laser cutting condition upon the quality of cut surface, in the case of CO2 pulse laser cutting. As for kerf width, average power was a predominant factor and peak power hardly influenced the kerf width, in the case of peak power of under 1000W. Under the condition of high peak power, peak power greatly influenced the kerf width. Dross height increased as average power increased, and decreased as the peak power increased in the case of same average power. Surface roughness decreased as the peak power increased in the case of same average power.
新起業創造支援に関する研究―遭遇問題の構造化と可視化―
布引雅之，長谷川素由，奥田孝一
姫路工業大学工学部研究報告，No.54A，pp.55-59 (2001)
The entrepreneur encounters many inscrutable problems, when he is creating a venture business developing the activity. In that case, it is important to judge correctly what is the merit and the demerit included in the encounter problems. To avoid the risk in venture business, the essence of the problem has to be promptly clarified with excellent wisdom of a specific entrepreneur. Then, it is necessary to enhance his wisdom as the wisdom of the venture business management team. In order to achieve that, it is important to represent the encounter problem as a simple structure model and to make it visible. In this study, the method of Interpretive Structural Model (ISM) has been applied to structure the encounter problems occurring in the process of venture business. This technique was used in analyzing the problems. As a result, it was found that the technique of ISM was effective to support the creation of a venture business.