Details of a Researcher - Takemura, Kenjiro

Papers - Takemura, Kenjiro

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Integration of ECF Micro Artificial Muscle Cells

Funiya Yajima, Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

Proc. The 11th International Conference on Mechatronics Technology 434 - 439 2007.11

Research paper (international conference proceedings), Joint Work, Accepted

A Micromotor using Electro-conjugate Fluid - Improvement of motor performance by using saw-toothed electrode series -

Kenjiro Takemura, Hiroto Kozuki, Kazuya Edamura, Shinichi Yokota

Sensors & Actuators A (ELSEVIER) 140 ( 1 ) 131 - 137 2007.10

Research paper (scientific journal), Joint Work, Lead author, Corresponding author, Accepted, ISSN 0924-4247

An electro-conjugate fluid (ECF) is a kind of dielectric fluid, which works as a smart fluid. The fluid generates a powerful jet flow, which we call an ECF jet, when subjected to high DC voltage with a highly non-uniform electric field. This means the ECF works as a fluid power source for mechanical components without any bulky pumps. This paper develops a high-performance ECF micromotor having novel saw-toothed electrode series. The motor has four disk plates with the electrode series as a rotor. The inner diameter and length of the motor are 9 and 10.6 mm, respectively. Experimental results confirm that the output power and torque of the motor are 21 times and 7.5 times larger than those of a previous ECF micromotor having bar-shaped electrode pairs. (C) 2007 Elsevier B.V. All rights reserved.

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ECF Micro Artificial Muscle Actuator and its Application to Micro Robot Arm

Kenjiro Takemura, Shinichi Yokota and Kazuya Edamura

Proc. The 6th International Symposium on Linear Drives for Industry Applications CD-ROM 2007.09

Research paper (international conference proceedings), Joint Work, Lead author, Accepted

ECFジェット駆動マイクロフィンガの提案とラージモデルの特性評価

横田眞一，阿部竜太郎，竹村研治郎，枝村一弥

日本フルードパワーシステム学会論文集 38 ( 5 ) 65 - 70 2007.09

Research paper (scientific journal), Joint Work, Accepted

先端が閉じ，断面に120度ごとの扇形チャンバを有するチューブにおいて，各チャンバの内圧を変化させるとチューブ先端に多自由度運動を生成できる．本研究では，電界共役流体に発生するジェット流によってこの内圧を制御した．特に，提案した構造では各チャンバ間においてジェット発生用電極対を介して電界共役流体を移動できるため，タンクとアクチュエータ部を共用化でき，またチャンバ間の差圧を利用できる．実験によってフィンガ先端の多自由度駆動を確認するとともに，先端部での発生力を明らかにした．

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電界共役流体により駆動されるミミズ型ぜん動駆動マイクロマシン

横田眞一，洪榮杓，竹村研治郎，枝村一弥

日本ロボット学会誌 25 ( 6 ) 140 - 145 2007.09

Research paper (scientific journal), Joint Work, Accepted

ミミズは収縮する体節が直列につながった構造であり，各体節は従走筋と環状筋の働きによって軸方向へ収縮し，径方向には膨張する．本研究では，繊維強化チューブの内圧を電界共役流体に発生するジェット流を用いて変化させ，上記ミミズの体節のような変形を実現する液圧駆動セルを提案し，これを直列に配置したぜん動駆動型マイクロマシンを実現した．

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Concept of a Micro Finger using Electro-conjugate Fluid and Fabrication of a Large Mode Prototype

Ryutaro Abe, Kenjiro Takemura, Kazuya Edamura and Shinichi Yokota

Sensors & Actuators A (ELSEVIER SCIENCE SA) 136 ( 2 ) 629 - 637 2007.05

Research paper (scientific journal), Joint Work, Accepted, ISSN 0924-4247

Electro-conjugate fluid (ECF) is a kind of functional fluid, which produces jet flow (ECF jet) when subjected to high DC voltage. It is ascertained that a strong ECF jet is generated under nonuniform electric field, for example, around a pair of a needle-electrode and a ring-electrode (a needle-ring electrode pair). This study proposes and develops a novel micro finger with two-DOF motion using ECF jet. First, we propose a concept of novel micro finger driven by ECF jet (ECF micro finger). The ECF micro finger consists of a finger tube with three chambers along its axis and an ECF jet generator with three needle-electrodes and a plate-electrode with three holes. When the ECF jet generated at the ECF jet generator is applied to the chambers of the finger tube, the pressurized chambers expand and the other chambers shrink resulting in the finger tube bending. Next, a large model of the proposed ECF micro finger, with finger tube diameter of 4.5 mm, is fabricated in order to confirm our concept. Finally, we investigate the static characteristics of the large model by experiments. (C) 2006 Elsevier B.V. All rights reserved.

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DP-RE type Micromotors using Electro-conjugate Fluid

Shinichi Yokota, Hiroto Kozuki, Kenjiro Takemura, Kazuya Edamura

Proc. IEEE International Conference on Robotics and Automation (IEEE) 1566 - 1571 2007.04

Research paper (international conference proceedings), Joint Work, Accepted, ISSN 1050-4729

This paper presents a new type of micromotor using electro-conjugate fluid (ECF). An electro-conjugate fluid is a kind of dielectric fluid, which works as a smart fluid. The fluid generates a powerful jet flow, which we call an ECF jet, when subjected to high DC voltage with highly non-uniform electric field, which means, it works as a fluid power source for mechanical components without bulky pumps. We introduce this attractive smart fluid to micromotors in this paper. Inside the motor is filled with the electro-conjugate fluid and a rotor has electrode pairs on the surface. By applying high DC voltage to the electrode pairs, the rotor rotates due to the ECF jet. In this paper, we design several types of electrode pairs and examine each influence on motor performances.

Development of an Ultrasonic Brake

Tatsuya Koyama, Kenjiro Takemura and Takashi Maeno

Journal of Advanced Mechanical Design, Systems, and Manufacturing (JAPAN SOC MECHANICAL ENGINEERS) 1 ( 1 ) 122 - 129 2007.03

Research paper (scientific journal), Joint Work, Accepted, ISSN 1881-3054

In the present paper, a newly developed ultrasonic brake is proposed. The ultrasonic brake can solve problems of conventional passive elements, such as time delay, instability, and large size, by using unique characteristics of ultrasonic motor, as fast response, silent motion, and non-magnetic feature. It can also be designed to be smaller than conventional elements due to its simple structure. The brake locks or releases the rotor by use of ultrasonic levitation phenomenon. First, we have designed the structure of the ultrasonic brake using an equation of ultrasonic levitation phenomenon, results from structural analysis and finite element (FE) analysis of piezoelectric material of the vibrator. Then we have manufactured the ultrasonic brake and have conducted a driving experiment. Finally, we have demonstrated that the maximum levitation force is around 40 N and the friction torque of the ultrasonic brake is up to 0.38 Nm. Moreover, we have confirmed that both response time and torque/inertia ratio of the ultrasonic brake are much more superior to the conventional ones.

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単相駆動型多自由度超音波モータ

音川佳代，竹村研治郎，前野隆司

日本機械学会論文集（C編） 73 ( 726 ) 577 - 582 2007.02

Research paper (scientific journal), Joint Work, Accepted

多自由度超音波モータの多くは，複数の固有振動モードの固有振動数を縮退させ，これらの組み合わせによって回転子の多自由度運動を実現していた．この場合，振動設計が複雑となるため，実用上問題が多かった．本研究では，複数の振動子をマトリクス状に配置し，固有振動数が異なる複数の固有振動モードを選択的に組み合わせることによって振動子マトリクス上に置かれた移動子に多自由度運動を生成する新たな多自由度超音波モータを開発した．

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Development and Control of a Micro Artificial Muscle Cell using Electro-conjugate Fluid

Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

Sensors & Actuators A (ELSEVIER) 133 ( 2 ) 493 - 499 2007.02

Research paper (scientific journal), Joint Work, Lead author, Corresponding author, Accepted, ISSN 0924-4247

As a man-machine interaction increases its importance in the robotic and mechatronic fields, a soft robot, which is inspired from natural systems, becomes one of the most important research trends. There are several research topics related to soft robots such as soft structures or artificial skins, compliance control, soft actuators or artificial muscles, and so on. For the natural muscle potentially has great flexibility, the authors believe that the artificial muscle actuator must be a promising technology for soft robots. Hence in this study, we develop a new type of micro artificial muscle cell, which is an element of an integrated artificial muscle, using electro-conjugate fluid (ECF) and measure its driving performances. In addition, position control characteristics are also clarified by experiments. Experimental results show the micro artificial muscle cell using electro-conjugate fluid has a quite good control performance. (c) 2006 Elsevier B.V. All rights reserved.

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Improving Output Power of ECF Micromotors with triangle electrodes

K. Takemura, H. Kozuki, H. Hayashi, S. Yokota, K. Edamura

Proc. The 10th International Conference on Mechatronics Technology CD-ROM 2006.11

Research paper (international conference proceedings), Joint Work, Lead author, Accepted

直流高電圧の印加によって活発なジェット流を発生する電界共役流体を用いると，単純構造で小型軽量なマイクロモータを比較的容易に構成できる．本研究では，上記マイクロモータの出力パワーの向上を目指して，ジェット発生のための電極形状を改良した．すなわち，従来の棒状電極対に代わって三角形電極を直列に配置し，より不均一な電界の形成および電極密度の向上を試みた．この結果，従来モータに比べて出力パワー密度が約3倍に向上した．

A Micro Finger using Electro-conjugate Fluid - Concept and Performance of Large Model -

S. Yokota, R. Abe, K. Takemura and K. Edamura

Proc. The 10th International Conference on Mechatronics Technology CD-ROM 2006.11

Research paper (international conference proceedings), Joint Work, Accepted

電界共役流体は直流高電圧の印加によって活発なジェット流を発生する機能性流体である．本研究では，断面に中心角120度の扇形チャンバ3つを有する直径4 mmのマイクロフィンガを試作し，各チャンバの内圧を上記ジェット流を用いて制御することによって先端に多自由度運動を実現するマイクロフィンガを開発した．特に，各チャンバ間の配管にバッファを設けることによって電界共役流体に発生するジェット圧力を効率的にフィンガの変形へと変換できることを明らかにした．

ECFジェットによる発生圧力を応用したチューブ形ECFマイクロアクチュエータ

阿部竜太郎，横田眞一，竹村研治郎，枝村一弥

日本フルードパワーシステム学会論文集 37 ( 5 ) 55 - 60 2006.09

Research paper (scientific journal), Joint Work, Accepted

機能性流体の一つである電界共役流体（ECF）に生じるジェット流の圧力により駆動される新たな駆動原理のマイクロアクチュエータを提案，試作し，この駆動特性を実験的に検討した．ブルドン管と同様の原理により駆動される本アクチュエータは，6 kV印加時に設計仕様1.8 mmの178 %の出力変位および2 mNの発生力を得た．このマイクロアクチュエータは，発生力は微小であるが，印加電圧により出力変位を制御できることから，マイクロミラーの微小位置決めなどへの応用が期待できる．

A Micro Gyroscope using Electro-conjugate Fluid

Shinichi Yokota, Ryuta Nishizawa, Kenjiro Takemura, Kazuya Edamura

Proc. IEEE International Conference on Robotics and Automation 4321 - 4323 2006.05

Research paper (international conference proceedings), Joint Work, Accepted

電界共役流体は直流高電圧の印加によって活発なジェット流を発生する．本流体を用いると，複数の微小な電極対を円筒チャンバ内に配置するだけで回転流を発生できる．本研究では，これに円盤を封入すると回転流によって浮揚，回転することを利用して，円盤とチャンバの相対角度から角速度を検出する新たなジャイロスコープを提案した．また，上記ジャイロスコープのプロトタイプを試作し，基礎的特性を明らかにした．

Driving Performance and Control of a Micro Artificial Muscle Cell using Electro-conjugate Fluid

Kenjiro Takemura, Shinichi Yokota, and Kazuya Edamura

Proc. IEEE International Conference on Robotics and Automation (IEEE) 1018 - 1023 2006.05

Research paper (international conference proceedings), Joint Work, Lead author, Accepted, ISSN 1050-4729

As a man-machine interaction increases its importance in robotics and mechatronics fields, a soft robot inspired from natural systems becomes one of the research trends. There are several research topics related to soft robots such as soft structures or artificial skins, compliance control, soft actuators or artificial muscles, and so on. For the natural muscle potentially has great flexibility, the authors believe the artificial muscle actuator must have a great potential in soft robots. Hence in this study we develop a new type of micro artificial muscle cell, which is an element of an integrated artificial muscle, using electro-conjugate fluid and measure its driving performances. In addition, position control characteristics are also clarified by experiments. As a result, the micro artificial muscle cell using electro-conjugate fluid shows quite good control performances.

New microactuators using functional fluids, MEXT Grant-in-Aid for Scientific Research on Priority Areas

Shinichi Yokota, Kazuhiro Yoshida, Kenjiro Takemura, Joon-wan Kim

Proc. The 1st International Symposium on Next-Generation Actuators Leading Breakthroughs 35 - 38 2006.04

Research paper (international conference proceedings), Joint Work

電界共役流体（ECF）を用いたマイクロモータの高出力化

横田眞一，河村清美，竹村研治郎，枝村一弥

電気学会論文誌E 126 ( 4 ) 137 - 143 2006.04

Research paper (scientific journal), Joint Work, Accepted

本研究では微小電極対によって高電圧を印加すると活発なジェット流を発生する電界共役流体（ECF）を利用したマイクロモータの微小化および作動流体の相違に伴う性能向上について検討した．すなわち，表面に放射状電極対を持つディスクプレート(DP)ロータを積層した内径5mmのDP形ECFマイクロモータを設計，試作し，駆動特性を実験により明らかにした．この結果，小型化により出力パワー密度が向上し，作動流体の違いにより出力パワー密度が約4.5倍に向上することが確認された．

Concept of a Micro Gyroscope using Electro-conjugate Fluid (ECF) and Development of an ECF Micro Gyro-motor

Shinichi Yokota, Ryuta Nishizawa, Kenjiro Takemura, and Kazuya Edamura

Journal of Robotics and Mechatronics 18 ( 2 ) 114 - 120 2006.04

Research paper (scientific journal), Joint Work, Accepted

本研究は，高電圧の印加によって活発なジェット流が生じる電界共役流体（ECF）を利用したECFマイクロジャイロスコープの実現を目的とした．はじめに，液体中の円盤を回転軸なしで浮揚，回転できるロータ径3mmおよび1.5mmのマイクロモータを実現し，回転特性を実験的に明らかにした．つぎに，上記のモータ全体に角速度が加わると浮揚円盤が傾くことを利用した新たなジャイロスコープを提案，試作した．

ECF Micro Finger Driven by ECF-jet and Characteristics Evaluation of a Large Model

R. Abe, S. Yokota, K. Takemura and K. Edamura

Proc. The 9th International Conference on Mechatronics Technology CD-ROM 2005.12

Research paper (international conference proceedings), Joint Work, Accepted

電界共役流体は直流高電圧の印加によって活発なジェット流を発生する機能性流体である．本研究では，断面に中心角120度の扇形チャンバ3つを有する直径4 mmのマイクロフィンガを試作し，各チャンバの内圧を上記ジェット流を用いて制御することによって先端に多自由度運動を実現するマイクロフィンガを実現した．本フィンガは液圧駆動であるものの，電界共役流体を用いたことにより外部に大規模なタンクやポンプを必要としない．

Development of a Micro Gyroscope using Electro-conjugate Fluid

S. Yokota, R. Nishizawa, K. Takemura and K. Edamura

Proc. The 9th International Conference on Mechatronics Technology CD-ROM 2005.12

Research paper (international conference proceedings), Joint Work, Accepted

直流高電圧の印加によって活発なジェット流を発生する電界共役流体を用いると，円筒チャンバ内に容易に回転流を発生できる．この中に円盤を封入すると，回転流によって浮揚，回転する．本研究では，この出力軸を持たないモータに角速度が加わった際に円盤とチャンバの相対角度が変化することに着目し，新たなジャイロスコープを提案した．また，実際に上記モータを試作し，寸法パラメータの微小化によって回転数が著しく上昇することを明らかにし，新たなマイクロジャイロの可能性を示した．

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