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Preliminary Experiments of Series Elastic Actuator Prototype utilizing Mechanical Resonance
Akihiro Yoshimi,Tsuyoshi Mori,Jun Kobayashi 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
This study proposes large force generation by a robotic manipulator by means of providing series elastic actuators exploiting mechanical resonance to it instead of powerful actuators. To this end, the authors designed and assembled a prototype of series elastic actuator that resonates at around 1.0 Hz on the basis of its model and identified parameters, and carried out preliminary experiments with it and a load. The prototype actuator consists of a geared DC motor with an encoder and an elastic element. The elastic element is made of two torsion springs so that it can generate torque in both directions. It was confirmed in the preliminary experiments that the prototype actuator resonated at around 0.7 Hz. In addition, in order to prove efficacy of mechanical resonance for large force generation, output torque of the prototype actuator with the elastic element and without it was estimated using their identified physical parameters and dynamics, and compared them. The estimation results showed that the prototype actuator exploiting mechanical resonance generated 2.24 times larger torque than the one without the elastic element.
Sueyoshi, Mitsuhiro,Furue, Toshihiko,Sato, Akihiro,Yokoyama, Kenichi,Yamadera, Yoshimi,Fujiwara, Kiyoshi,Matsuda, Katsuhiko 한국부식방식학회 2002 Corrosion Science and Technology Vol.31 No.5
Aluminum brass tubing which is highly cost-effective and has a high heat transfer property has been widely used for seawater cooled condenser in Japan. However, the tubing suffers from erosion and corrosion on the inner surface in spite of ferric-ion injection and cathodic protection. Ammonia also attacks the outer surface after long years of service. Periodic replacement with new tubing has been performed. Titanium tubing which has high corrosion resistance, has been used in new condensers and for the air removal zone of the condenser. However, its service has been restricted due to higher cost and lower elastic modulus. As a countermeasure, we have developed a high performance ferritic stainless steel tubing called "Super Stainless: FS1O" which has excellent corrosion resistance and is highly cost-effective. First, the tubings were used experimentally in our Buzen thermal power station, Unit 2 condenser in 1993, and various investigations have been performed on the extracted tubing and tube sheet every year. Ammonia attack on the outer surface, corrosion and erosion on the inner surface, crevice corrosion between the tube and the tube-sheet. Hz absorption and degradation of properties was not observed. Based on these results, 1,006 pieces of FS1O were installed in Buzen thermal power station, Unit I condenser in 1996. The tubing has been used in seawater without any corrosion problems.
Hiroshi Matsumura,Norikazu Kinoshita,Hiroshi Iwase,Akihiro Toyoda,Yoshimi Kasugai,Norihiro Matsuda,Yukio Sakamoto,Hiroshi Nakashima,Hiroshi Yashima,Nikolai Mokhov,Anthony Leveling,David Boehnlein,Kamr 한국물리학회 2011 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.59 No.23
In an antiproton production (Pbar) target station of the Fermi National Accelerator Laboratory (FNAL), the secondary particles produced by bombarding a target with 120-GeV protons are shielded by a thick iron shield. In order to obtain experimental data on high-energy neutron transport at more than 100-GeV-proton accelerator facilities, we indirectly measured more than 100-MeV neutrons at the outside of the iron shield at an angle of 50˚ in the Pbar target station. The measurement was performed by using the Au activation method coupled with a low-background γ-ray counting system. As an indicator for the neutron flux, we determined the production rates of 8 spallation nuclides (^(196)Au, ^(188)Pt, ^(189)Ir, ^(185)Os, ^(175)Hf, ^(173)Lu, ^(171)Lu, and ^(169)Yb) in the Au activation detector. The measured production rates were compared with the theoretical production rates calculated using PHITS. We proved that the Au activation method can serve as a powerful tool for indirect measurements of more than100-MeV neutrons that play a vital role in neutron transport. These results will be important for clarifying the problems in theoretical calculations of high-energy neutron transport.