Papers - Kakinuma, Yasuhiro

Basic Study on Nanofabrication of Biodegradable Plastics applying Biochemical Machining

S. Ikeda, Y. Kakinuma

Precision Engineering (ELSEVIER SCIENCE INC)  35 ( 3 ) 440-446 - 446 2011

Research paper (scientific journal), Joint Work, Accepted,  ISSN  0141-6359

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Plastics are regarded as proper materials for microfluidic chips, and, in particular, biodegradable plastics will be more appropriate from the viewpoint of environmental friendliness. In addition, when they are utilized as chip substrate, biochemical machining can be applied. Biochemical machining is a process, which utilizes enzymatic biodegradation. This paper describes studies on application of biochemical machining to nanofabrication of poly(L-lactic acid) (PLLA), which is one of the most widely used biodegradable plastics industrially. The degradation performance of enzyme (proteinase K) was experimentally evaluated to extrapolate a suitable condition for nanofabrication. Additionally, in order to make arbitrary channels with nano-order depth on PLLA, mask fabrication was proposed. It is a fabrication method to control degraded regions and obtain desired shapes with a mask, which has penetrating grooves. Using this method, we achieved fabrication of straight grooves with nano-scale depth. In conclusion, it is clear that biochemical machining can realize an effective process of arbitrarily shaped nanogrooves on PLLA. (C) 2011 Elsevier Inc. All rights reserved.

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Hybrid Control for Machine Tool Table Applying Sensor-less Cutting Force Monitoring

M. Takei, D. Kurihara, S. Katsura, Y. Kakinuma

International Journal of Automation Technology (Fuji Technology Press)  5 ( 4 ) 587-593 - 593 2011

Research paper (scientific journal), Joint Work, Accepted,  ISSN  1883-8022

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Accurate monitoring and adaptive control to maintain optimum machining conditions are required for intelligent machine tools. Methods using additional sensors have been studied to add these functions to machine tools
however, incorporating additional sensors leads to higher production costs and reductions in mechanical stiffness. In the present study, a sensorless method of monitoring cutting force that utilizes the current signal and the second-order derivative of position is developed. Moreover, applying sensorless cutting force monitoring, a hybrid control method is proposed in which the sensorless monitoring is used to simultaneously control both the position trajectory and cutting force in the feed direction.

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Detection of Chatter Vibration in End Milling applying Disturbance Observer

Y. Kakinuma, Y. Sudo, T. Aoyama

CIRP Annals-Manufacturing Technology (ELSEVIER SCIENCE BV)  60 ( 1 ) 109-112 - 112 2011

Research paper (scientific journal), Joint Work, Accepted,  ISSN  0007-8506

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Suppression of chatter vibration is required to improve the machined surface quality and enhance tool life. For monitoring the chatter vibrations, additional sensors such as acceleration sensors are generally used, which results in high costs and low reliability of the machine tools. In this study, a novel in-process method to detect chatter vibrations in end milling is developed on the basis of a disturbance observer theory. The developed system does not require any external sensors because it uses only the servo information of the spindle control system. Self-excited and forced chatter vibrations are successfully detected. (C) 2011 CIRP.

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Buffing Performance Analysis of Viscoelastic Polymer with Sensor-less Polishing Pressure Control

K. Igarashi, M. Sato, Y. Kakinuma

Advanced Materials Research (TRANS TECH PUBLICATIONS LTD)  325   482-488 - 488 2011

Research paper (scientific journal), Joint Work, Accepted,  ISSN  1022-6680

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Viscoelastic polymer with high scratch resistance has been developed for coating material of product. Due to some particular characteristics such as viscoelasticity, it is difficult to finish the polymer coated surface. In the present circumstances, its polishing process is carried out by the trained technician and depends on the skill like adjustment of the polishing pressure according to the situation. To realize automation of the polishing, high-precision and highly-responsive force control is required firstly. Typically force control is done with force sensor. However when external sensor is used, there are some problems such as high-cost, reduction of machine stiffness and thermal drift. The thermal drift which is caused by polishing heat prohibits accurate measuring of force. The purpose of this research is to develop the polishing pressure control method without any additional sensor. In addition, applying the control method to buffing machine, buffing performance of viscoelastic polymer is experimentally analyzed.

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Stabilizing Output of an Electrorheological Gel Linear Actuator

K. Koyanagi, Y. Kakinuma, H.Anzai, K. Sakurai, T. Oshima

Journal of Intelligent Material Systems and Structures (SAGE PUBLICATIONS LTD)  22 ( 15 ) 1685-1692 - 1692 2011

Research paper (scientific journal), Joint Work, Accepted,  ISSN  1045-389X

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ER gel is a relatively new type of functional material. The surface of ER gel has a shear stress characteristic, which increases according to the applied electric field. Introducing the gel into interface elements of a force transmission system realizes functional clutches and brakes. This study aims to develop a linear actuator that is safe, can operate in reverse, and can generate a large force using such a functional clutch. Applying an ER gel clutch in a force transmission system decreases inertia and the mechanical limits of the maximum speed while not limiting controllability. Such properties contribute to a high level of safety. This article reports, in particular, on stabilizing the output of the linear actuator.

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Basic Performance Evaluation of ER gel in vacuum Condition

Y. Shida, Y.Kakinuma, T. Aoyama, H. Minami, H. Anzai

Journal of Intelligent Material Systems and Structures (SAGE PUBLICATIONS LTD)  22 ( 15 ) 1699-1706 - 1705 2011

Research paper (scientific journal), Joint Work, Accepted,  ISSN  1045-389X

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ER gel exhibits various adhesive characteristics according to the applied electric field. This characteristic is called the EA effect. The results of a recent study reveal that the EA effect also occurs in a vacuum. Therefore, it is expected that ER gel can be applied to a chucking or damping device in a vacuum process. However, the characteristics of ER gel in a vacuum have not been sufficiently clarified. The purpose of this study is to experimentally evaluate the characteristic of ER gel in a vacuum. The performance of an ERG fixture element used for a silicon wafer in a vacuum is evaluated through shearing tests. The experimental results indicate that the ER gel demonstrates satisfactory performance in a vacuum. Moreover, the outgas released from the ER gel in a vacuum is evaluated, and the influence of the degassing time on the outgas is investigated.

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Development of Tactile Display Device using ERG Multiple-Disk Clutch

Y. Urakami, T. Aoyama, H. Anzai, Y. Kakinuma

Journal of Intelligent Material Systems and Structures (SAGE PUBLICATIONS LTD)  22 ( 15 ) 1693-1698 - 1698 2011

Research paper (scientific journal), Joint Work, Accepted,  ISSN  1045-389X

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Nowadays, due to the widespread use of rehabilitation and virtual reality technology, tactile display systems have attracted the attention of researchers from the medical and amusement fields. A clutch mechanism that employs ER and MR fluids is appropriate for force transmission in a tactile display device, because the ER and MR effects are passive and safe for the operator compared with an active actuator using motor. The developed ERG produces approximately 20 times higher shear forces than ER fluid and exhibits stable performance. In this research, an ERG multiple-disk clutch is fabricated and applied to a tactile display system. The experimental results of the control test indicate that the tactile display system with the proposed control method can exhibit the 'sense of touch' of various viscous fluids.

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エンドミル加工における外乱オブザーバを用いたセンサレスびびり振動検出技術の開発（第１報）

周藤唯, 柿沼康弘, 大西公平, 青山藤詞郎

精密工学会誌 77 ( 7 ) 707-712 2011

Research paper (scientific journal), Joint Work, Accepted

材料パラメータの異なるERゲルの性能評価

内藤洋介, 柿沼康弘, 青山藤詞郎, 安齊秀伸

日本機械学科誌C2編 77 ( 782 ) 308-318 2011

Research paper (scientific journal), Joint Work, Accepted

Electrorheological Gel Linear Actuator for Human-Coexistence Robots

K. Koyanagi, Y. Kakinuma, H. Anzai, T. Yamaguchi,

Advanced Robotics,The International Journal of the Robotics Society of Japan (TAYLOR & FRANCIS LTD)  24 ( 14 ) 1963-1981 - 1981 2010

Research paper (scientific journal), Single Work,  ISSN  0169-1864

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Robots manipulated by humans are being aggressively researched and developed. Such robots have requirements such as a large generative force, high-speed response, good controllability, high safety, low friction and backdriveability. We focused on backdriveability and created a prototype for a novel linear actuator with a new structure that includes an electrorheological (ER) gel, which is a recently designed functional material. The device is an all-purpose actuator that satisfies the demands for application in a human-coexistence welfare robot, such as power-assist systems. This paper presents the original plan for the linear actuator, shows the actuator as currently manufactured and presents the basic characteristics of the actuator as investigated experimentally. We obtained larger force from the linear actuator than the initial target. Additionally, the linear actuator shows possibilities of further improvement of the force-weight ratio by an increase of the ER gel structures. With regard to stabilizing the response of the linear actuator, spring elements contributed to its improvement. However, further stabilization remains as a future issue for practical use in human-coexistence robots. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010

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Evaluation of Polished Surface for Viscoelastic Polymer

T. Kubo, S. Ota, M. Oda, K. Hashishita, Y. Kakinuma,

Advanced Materials Research (TRANS TECH PUBLICATIONS LTD)  126-128   493-498 - + 2010

Research paper (scientific journal), Single Work,  ISSN  1022-6680

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Viscoelastic polymers are used as one of coating materials for protecting the products from scratches. Presently, the repair of the coating surface for removing dust or extraneous matters has been performed through several polishing processes. However, it becomes increasingly difficult to polish its surface by only applying good skill and experience of skilled worker because a leading-edge viscoelastic polymer for coating is further scratch-resistant. Thus, based on quantitative evaluation of relation between polishing process and finished surface, it is necessary to make the polishing process appropriate for the leading-edge viscoelastic polymers. In this study, we attempt to establish the evaluation method of the polished surface and clarify the surface condition with invisible scratches.

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Development of Multiple-disk Brake Element Using Electro-rheological Gel

Y. Kakinuma, H. Tanaka, T. Aoyama

International Journal of Applied Electromagnetics and　Mechanics (IOS PRESS)  33 ( 3-4 ) 1677-1683 - 1683 2010

Research paper (scientific journal), Single Work,  ISSN  1383-5416

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Electro-rheological gel (ERG) is a functional elastomer, which changes its surface adhesive property according to the intensity of electric field. In this study, ERG is applied to multiple-disk brake element to realize both simplification of structure and wide range of controlled brake torque. First, static performance of ERG multiple-disk brake (ERG-MDB) is evaluated experimentally. It is clear that a generated brake torque depends on an electric field and the number of layer of ERG. ERG-MDB with 6 layers shows 5 times brake torque as high as that with 1 layer. Second, considering the dynamical model of the ERG-MDB, dynamic performance is investigated through the forced vibration test. The result shows that dynamic damping and stiffness coefficients are changed widely according to applied electric field.

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Cutting Force Control using Sensor-less Cutting force Monitoring Method

D. Kurihara, Y. Kakinuma, S. Katsura,

Journal of Advanced Mechanical Design, Systems, and Manufacturing 5 ( 4 ) 955-965 2010

Research paper (scientific journal), Single Work

Pre-Deformation-assisted Cryogenic Micromachining for Fabrication of Three-dimensional Unique Micro Channels

K. Mishima, Y. Kakinuma, T. Aoyama

Journal of Advanced Mechanical Design, Systems, and Manufacturing (JAPAN SOC MECHANICAL ENGINEERS)  5 ( 4 ) 936-947 - 947 2010

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

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Polydimethylsiloxane (PDMS) is difficult to machine by conventional cutting process because of its low elasticity and high adhesion. We proposed the cryogenic micromachining method assisted by liquid nitrogen cooling for direct fabrication of 3D micro channels on PDMS substrate in short time. In this paper, the cryogenic cutting mechanism is clarified through some verification experiments. Moreover, Pre-Deformation-assisted Cryogenic Micromachining (PDCM) method is also proposed for fabricating the unique shapes of channels and its validity is evaluated experimentally. The results of cutting tests show that 3D unique micro channels can be processed precisely and rapidly on PDMS.

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Development of High-performance ER Gel based on the Principle of Electro-adhesive Effect

Y. Kakinuma, T. Aoyama, H. Anzai

Journal of Intelligent Material Systems and Structures (SAGE PUBLICATIONS LTD)  21 ( 15 ) 1501-1508 - 1508 2010

Research paper (scientific journal), Single Work,  ISSN  1045-389X

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Electrorheological gel (ERG) is a novel functional elastomer, which has frictional and adhesive surface properties that vary according to the intensity of an applied electric field. This peculiar phenomenon is referred to as the electro-adhesive (EA) effect. The shear stress of ERG generated under an applied electric field is approximately 30-40 times higher than that of electrorheological fluids (ERF), due to its high adhesive strength. However, the generated EA effect of ERGs varies widely due to surface conditions, especially the density and distribution of ER particles at the surface. In order to stabilize and improve the performance of ERG, the electrical field-assisted molding process is proposed as a production method. In this process, the mixture solution including ERFs and gel agent is gelling under electric field. The principle of the EA effect is theoretically investigated and a high-performance ERG produced by the proposed process, in which ER particles are aligned densely at the surface, is developed and the performance is experimentally evaluated by surface observation and shear test, revealing a highly dense arrangement of ER particle at its surface and a higher shear stress twice that of conventional ERG.

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解説 電気粘性(ER)ゲルの開発とその応用

柿沼康弘, 青山藤詞郎

トライボロジスト 54 ( 10 ) 677-682 2009

Research paper (scientific journal), Joint Work, Accepted

Development of High-performance ER Gel Produced by Electric-field assisted Molding

Y. Kakinuma, T. Aoyama, H. Anzai

Journal of Physics: Conference Series (Institute of Physics Publishing)  012013 2009

Research paper (scientific journal), Joint Work, Accepted,  ISSN  1742-6596

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Electro-rheological gel (ERG) is a novel functional elastomer whose surface frictional and adhesive property varies according to the intensity of applied electric field. This peculiar phenomenon is named as Electro-adhesive effect. A generated shear stress of ERG under applied electric field is approximately 30∼40 times higher than that of ERF because of high adhesive strength. However, the performances of ERG vary widely due to its surface condition, especially density and distribution of ER particles at the surface. In order to stabilize and improve the performance of ERG, the electric- filed assisted molding process is proposed as the producing method of ERG. In this study, first, the principle of electro-adhesive effect is theoretically investigated. Second, a high-performance ERG produced by the proposed process, in which ER particles are aligned densely at the surface, is developed and its performance is evaluated experimentally. As the experimental result, the high-performance ERG shows twice higher shear stress than the conventional ERG. © 2009 IOP Publishing Ltd.

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A Study on Fixing Force Generation Mechanism of ER Gel

H. Tanaka, Y. Kakinuma, T. Aoyama, H. Anzai

Journal of Physics: Conference Series 01029 2009

Research paper (scientific journal), Joint Work, Accepted

Basic Research of Novel Linear Actuator with Electro-Rheological Gel Drum

T. Yamaguchi, K. Koyanagi, Y. Kakinuma, H. Anzai, K. Sakurai, and T.Oshima

Journal of Physics: Conference Series 012020 2009

Research paper (scientific journal), Joint Work, Accepted

Electric Field-Assisted Glass Polishing Using Electro-Rheological Gel Pad

Y. Kakinuma, S. Takezawa, T. Aoyama, K. Tanaka and H. Anzai

Journal of Advanced Material Research (TRANS TECH PUBLICATIONS LTD)  76-78   319-324 - + 2009

Research paper (scientific journal), Joint Work, Accepted,  ISSN  1022-6680

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A polishing process, which is the final process in manufacturing optical elements, takes a long time and often depends on the experience and special skills. Development of a skill-less polishing technology and automation of its process, therefore, has been required. One of the most promising polishing technologies is Field-assisted Fine Finishing (FFF). In this study, an Electro-rheological Gel (ERG) polishing pad with one-sided patterned electrodes is developed to polish insulator materials and, moreover, a novel electric-field-assisted polishing technology for glass polishing is proposed applying this pad. The ERG polishing pad can change the polishing performance according to applied electric field due to "electro-adhesion effect". Results of several polishing tests show that the performance of polishing a blue glass can be controlled by applying electric field to the ERG pad.