{"created":"2023-06-19T10:26:32.011370+00:00","id":5119,"links":{},"metadata":{"_buckets":{"deposit":"1935ab54-a337-4f53-a13f-4e32c86e04d3"},"_deposit":{"created_by":18,"id":"5119","owners":[18],"pid":{"revision_id":0,"type":"depid","value":"5119"},"status":"published"},"_oai":{"id":"oai:muroran-it.repo.nii.ac.jp:00005119","sets":["41:227"]},"author_link":["47282"],"item_81_date_granted_17":{"attribute_name":"学位授与年月日","attribute_value_mlt":[{"subitem_dategranted":"2014-03-24"}]},"item_81_degree_grantor_10":{"attribute_name":"学位授与機関","attribute_value_mlt":[{"subitem_degreegrantor":[{"subitem_degreegrantor_language":"ja","subitem_degreegrantor_name":"室蘭工業大学"},{"subitem_degreegrantor_language":"en","subitem_degreegrantor_name":"Muroran Institute of Technology"}],"subitem_degreegrantor_identifier":[{"subitem_degreegrantor_identifier_name":"10103","subitem_degreegrantor_identifier_scheme":"kakenhi"}]}]},"item_81_degree_name_11":{"attribute_name":"学位名","attribute_value_mlt":[{"subitem_degreename":"博士（工学）","subitem_degreename_language":"ja"}]},"item_81_description_25":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_81_description_7":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"現在，用途や出力によってさまざまなアクチュエータが開発されている。その中で一般的に用いられている電磁モータ（EMM）は，出力要求に対して汎用性が高く，容易に出力を制御できることから様々なシステムに組み込まれている。しかし，高出力なものほど大型あり，イナーシャやインダクタンスの増加による，応答の遅れなどの問題がある。一方，圧電アクチュエータは，EMMと比較して応答が速く，EMMと同質量で大きな出力を有することから，EMMと組み合わせることで互いの短所を補完するアクチュエータシステム（AS）が実現可能と考えられる。しかし，USMは摩擦駆動であるためトルクフリー状態が無く，外力による回転が困難なため，ASの実現には高速クラッチ／ブレーキが必要である。先行研究で高速クラッチ／ブレーキとして圧電クラッチ／ブレーキを開発し，超音波モータ（USM）と組み合わせた超音波ASを実現している。開発した超音波ASとEMMを組み合わせることで出力範囲が広範で高速応答可能なASを実現可能であると考えられる。本研究では，EMMと超音波ASを組み合わせたハイブリッドASの開発を行い，その効果を検討する。また，高速応答性やアクチュエータを切り替えることによる広い出力特性を活かした応用例として，力覚提示への効果について検討した。本システムにより，従来十分な表現ができていない硬さなどの高速な応答が必要な表現から弾性表現までを一つのシステムで表現可能となる。試作したハイブリッドASでは，超音波ASによる圧電クラッチによる回転速度・トルクの予圧制御およびハイブリッド駆動によるアシスト効果の検討を行った。USMへの印加電圧を一定とした状態で，予圧制御により回転速度・トルクの制御を実現した。また，大きな予圧力を与えた状態でのUSM始動から瞬間的に予圧力を下げることで最高速度への到達時間の短縮が可能であることを確認した。さらにこの制御を拡張し，EMM始動時にUSMを併用することでEMMの立ち上がり特性が向上し，消費電力の削減効果を確認した。ハイブリッドASの応用例の一つとして力覚提示での効果の検討を行った。提示する力覚状態に応じて，EMM，USM，圧電クラッチの組み合わせを切り替えることにより，弾性体から剛性体までを安定して提示可能であることを確認した。また，ハイブリッドASを2自由度ハイブリッドASに拡張することで，よりリアルな操作感と力覚提示を実現した。","subitem_description_language":"ja","subitem_description_type":"Abstract"},{"subitem_description":"Various actuators had been developed for the output and applications. In general, an electromagnetic motor (EMM) has versatility for the output request. In addition, the power of EMM can easily control with the electrical operation. However, the high power EMM has a disadvantage such as response delay by increases of mass and inductance. On the other hand, an ultrasonic motor (USM) has a rapid response by friction force drive between a stator vibrator and a rotor or a slider. If the EMM and the USM are used together in the same actuator system (AS), the individual actuators can complement each other. Then, such AS has a wide output range and high speed response. It is noted that the USM does not have torque free state for an operation by external force. Therefore, realizing such an AS requires high speed clutch/brake.As the first step of study, an ultrasonic AS which was able to electrically control a preload had been developed by combining a USM with a piezoelectric clutch (piezo-clutch). As a result, it was realized that the expansion of the operating range and increased stability, hence a new AS with wide output range and rapid response is realizable by combining the EMM and the ultrasonic AS.The objective of this study is to develop a new hybrid AS that includes an EMM and an ultrasonic AS. In addition, as the one application of wide outputsrange and rapid response, the effect of the force-feedback display by the hybrid AS was considered. The proposed hybrid AS is composed of a USM and an EMM which generate the rotation and a piezo-clutch/brake based on a mechanical amplifier which is used for adjustments of preload and braking force. A preload control by the piezo-clutch was examined. The revolution speed was stabilized by controlled preload using the piezo-clutch. The rise time was shortened by preload control during transient rotation at starting the USM. In addition, the rise time and driving power was reduced by hybrid drive with both of EMM and the USM.As the one application of the hybrid AS, the effect on a force-feedback display was examined. As author’s impression, the hardness feeling was realistically represented by the piezo-brake. The elastic feeling was represented by either the EMM or the USM. In addition, the hybrid AS was extended a two-degree-of-freedom hybrid AS. As a result, the force-feedback was represented with more real operational.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_81_dissertation_number_13":{"attribute_name":"学位授与番号","attribute_value_mlt":[{"subitem_dissertationnumber":"甲第355号"}]},"item_81_identifier_registration":{"attribute_name":"ID登録","attribute_value_mlt":[{"subitem_identifier_reg_text":"10.15118/00005110","subitem_identifier_reg_type":"JaLC"}]},"item_81_subject_9":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"547","subitem_subject_scheme":"NDC"}]},"item_81_text_12":{"attribute_name":"学位の種別","attribute_value_mlt":[{"subitem_text_language":"ja","subitem_text_value":"課程博士"}]},"item_81_text_14":{"attribute_name":"報告番号","attribute_value_mlt":[{"subitem_text_language":"ja","subitem_text_value":"甲第355号"}]},"item_81_text_15":{"attribute_name":"学位記番号","attribute_value_mlt":[{"subitem_text_language":"ja","subitem_text_value":"博甲第355号"}]},"item_81_version_type_24":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":""}]}],"creatorNames":[{"creatorName":"桶谷, 涼太","creatorNameLang":"ja"},{"creatorName":"OKEYA, Ryota","creatorNameLang":"en"},{"creatorName":"オケヤ, リョウタ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2016-02-15"}],"displaytype":"detail","filename":"A355.pdf","filesize":[{"value":"6.4 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"A355","objectType":"fulltext","url":"https://muroran-it.repo.nii.ac.jp/record/5119/files/A355.pdf"},"version_id":"1f4cd458-af00-4c48-9cb9-fad35250a431"},{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2016-02-15"}],"displaytype":"detail","filename":"A355_summary.pdf","filesize":[{"value":"359.2 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"A355_summary","objectType":"abstract","url":"https://muroran-it.repo.nii.ac.jp/record/5119/files/A355_summary.pdf"},"version_id":"4bcf67ae-3bdf-4058-8099-0690d13ea502"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"doctoral thesis","resourceuri":"http://purl.org/coar/resource_type/c_db06"}]},"item_title":"圧電ハイブリッドアクチュエータシステムの開発とその応用","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"圧電ハイブリッドアクチュエータシステムの開発とその応用","subitem_title_language":"ja"}]},"item_type_id":"81","owner":"18","path":["227"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2014-06-26"},"publish_date":"2014-06-26","publish_status":"0","recid":"5119","relation_version_is_last":true,"title":["圧電ハイブリッドアクチュエータシステムの開発とその応用"],"weko_creator_id":"18","weko_shared_id":-1},"updated":"2023-11-13T00:29:33.822423+00:00"}