Abstract: A robot hand converts the longitudinal extending and retracting motion of an actuating rod of a linear actuator into opening and closing motion of left and right first links via a link mechanism. The link mechanism includes left and right middle links composed of coil springs. When the left and right first links come in contact with an object to be gripped, the middle links elastically deform and expand, and the force gripping the object gradually increases due to the elastic deformation of the middle links. It is possible to prevent a large gripping force from acting suddenly on the object and to prevent the object from being deformed, damaged, or otherwise suffering harmful effects.

Abstract: A wave-gear-type linear-actuation mechanism comprises a flat-type wave gear; a lead screw that is a structural component of the wave gear and is formed on an outer peripheral surface of a first circular spline; and a linear-actuation cylinder threaded onto the lead screw, a linear-actuation cylinder 4 having a screw groove that is formed in an inner peripheral surface thereof. It is possible to obtain a linear-actuation mechanism whose holding force during reverse input mode (speed increasing mode) is higher than cases where a cup-type flexible screw is used.

Abstract: A robot hand converts the longitudinal extending and retracting motion of an actuating rod of a linear actuator into opening and closing motion of left and right first links via a link mechanism. The link mechanism includes left and right middle links composed of coil springs. When the left and right first links come in contact with an object to be gripped, the middle links elastically deform and expand, and the force gripping the object gradually increases due to the elastic deformation of the middle links. It is possible to prevent a large gripping force from acting suddenly on the object and to prevent the object from being deformed, damaged, or otherwise suffering harmful effects.

Abstract: A magnetic absolute sensor for a geared motor comprises a dipole magnet and hall elements. The dipole magnet is fixed to a hollow portion of a hollow rotor shaft. A bracket attached to an end plate of a motor housing is coaxially inserted from the rear end side of the hollow portion. The dipole magnet is inserted from the front side in a cylindrical portion of the bracket. The hall elements are arranged at an interval of 90 degree on the circular inner periphery surface of the cylindrical portion. The hall elements face the circular outer periphery surface of the dipole magnet with a fixed gap therebetween. It is not necessary to increase a motor shaft length in order to incorporate the magnetic absolute sensor. The flux of a motor driven magnet is blocked by the hollow rotor shaft and the hall elements are not adversely affected.

Abstract: A wave generator (4) of a wave gear device (1) is equipped with a rigid cam plate (5) and a wave bearing (7). The wave bearing (7) comprises an oval raceway surface (5b) formed on the oval outer peripheral surface (5a) of the rigid cam plate (5), a flexible bearing ring (8) equipped with a circular raceway surface (8a), and multiple balls (10) inserted in the race (9) formed between oval raceway surface (5b) and circular raceway surface (8a). A ball insertion hole (11) is formed at the outer perimeter edge of the rigid cam plate (5) at a region above the minor axis Lmin of the oval where there is substantially no load; from here, the balls (10) are inserted into the race (9), after which the hole is closed by a plug (12). It is easy to insert the balls (10) through the ball insertion hole (11), and the service life of the bearing is not reduced since the ball insertion hole (11) is formed.

Abstract: In a self-propelled wheel apparatus of an aircraft, a drive mechanism composed of a wave gear drive and a motor is coaxially linked to an axle of a wheel via a one-way clutch, and rotational force in the reverse direction of the aircraft is transmitted to the wheel axle via the one-way clutch. When the aircraft moves forward, the link between the wheel axle and an output shaft of the wave gear drive is cut off by the one-way clutch, and motor rotational force is transmitted to the wheel axle, causing the wheel to rotate, only when the aircraft moves backward.

Abstract: A tool holder plate (51) is fixed to a shaft end part (413) of a hollow motor shaft (41) of a brushless DC servo motor (1), and a cutting tool is mounted in a tool mounting hole (51a) formed in the tool holder plate (51) and a work is cut-processed by this cutting tool. In order to prevent intrusion of a cutting processing oil containing cutting powder into the inside of the motor from between the shaft end part (411) of the hollow motor shaft (41) and an end plate portion (22) of a motor housing (2), a labyrinth seal (55) including a double circular groove (553, 555) having a fine width extended in the axis direction (1a) is formed between a metal plate (53), the tool holder plate (51), and the shaft end part (411). The other shaft end part (414) is also formed with a labyrinth seal (56) of the same structure.

Abstract: Stator core of motor stator is equipped with a segmented core connecting body which connects in an annular shape a segmented core having a structure whereby laminated core plates are connected and held in place in a laminated state. To connect and fix core laminated plates by clamping, first and second dowels formed in each core laminated plate are used to connect and fix common rings by pressure-fitting them to the first and second end faces at either side of the segmented core connecting body, thus integrating the segmented core connecting body. The segmented core connecting body can be integrated with a simple operation, thus significantly reducing the assembly time for the stator core.

Abstract: In a galvano scanner system (1), a light position detection unit (30) is mounted so as to match the scanning center of the workpiece surface (7), the light position detection unit being provided with a two-dimensional light position sensor (32) disposed in the center and four one-dimensional light position sensors (33(1)) to (33(4)) concyclically disposed at equal angles about the center of the two-dimensional light position sensor. An origin position command is given to galvano scanners (3, 4), laser light is irradiated at low output, and the offset adjustment value is calculated based on the detection output of the two-dimensional light position sensor (32).

Abstract: A method for manufacturing a rigid internal gear of a wave gear device in which an internally toothed portion formed with internal teeth and a gear main body portion are joined integrally, the method including preforming an internal teeth-forming ring or disc for forming the internally toothed portion by using a first aluminum alloy powder; manufacturing a forging in which the internal teeth-forming ring or disc is placed in a forging die and is integrally formed on its outer side with the gear main body portion using a second aluminum alloy powder, the first aluminum alloy powder being harder and having higher abrasion resistance than the second aluminum alloy powder; and applying post-processing including cutting teeth to the forging.

Abstract: According to a method for performing adaptive friction compensation of an actuator including a wave gear drive, there is used as a friction compensation current applied to a motor drive current a static friction compensation current is when a motor shaft stops with a deviation, and a Coulomb friction compensation current ic in other circumstances. The static friction compensation current is is obtained by adding a compensation amount isr of a monotonically increasing ramp function to a compensation amount iss of a step function, and a step-function compensation amount ics is used as the Coulomb friction compensation current ic. Since the amount of friction compensation can be changed adaptively based on the data during positioning-control response, a motor shaft can be stabilized at a target angle without prominent accompanying vibration, even if the ambient temperature changes and the friction characteristics of the wave gear drive fluctuate.

Abstract: A method for controlling positioning of an actuator having a wave gear device uses a strict linearization technique to compensate for the effects relative to positioning control of a load shaft in the, as caused by the non-linear spring characteristics of the wave gear device. In the method, a plant model is constructed from the actuator to be controlled, the model being linearized using a strict linearization technique; measurements are taken of the non-linear elastic deformation of the wave gear device relative to load torque; the non-linear spring model ?g(?tw) is defined using a cubic polynomial with the constant defined as zero to allow the measurement results to be recreated; and the current input into the plant model and the motor position of the plant model when a load acceleration command is a command value are entered into a semi-closed loop control system for controlling the positioning of the load shaft, as a feed-forward current command and a feed-forward motor position command.

Abstract: In a flat wave gear device in which a flexible externally toothed gear and the rigid internally toothed gear have the same number of teeth, an arcuate tooth profile is imparted to a flexible externally toothed gear, a contact point C between tooth profiles of a flexible externally toothed gear and a D-side rigid internally toothed gear is determined from an arc center A of the arcuate tooth profile of the flexible externally toothed gear and from a momentary center S of relative movement between the gears, and a main part of a tooth profile to be formed in the D-side rigid internally toothed gear is calculated based on the contact point. The tooth profile of the D-side rigid internally toothed gear can be accurately designed; therefore, meshing between the gears can occur with zero backlash, ratcheting torque can be increased, and continuous meshing can occur across a wide range of the movement locus of the tooth profiles of both gears.

Abstract: A scanner driver of a galvanometric scanner system includes an analog drive circuit; a control unit 31 for storing and holding optimized data formed from combinations of optimal values of circuit constants set in advance in accordance with a plurality of drive modes of a galvanometric scanner; and an electronic trimmer for changing the circuit constants of the analog drive circuit. The control unit selects one of the optimized data in accordance with an external input, and sets or updates parameters of the circuit constants via the electronic trimmer in accordance with the selected optimized data. When a drive mode of the galvanometric scanner system is changed, the scanner driver can accordingly be optimized readily and quickly.

Abstract: Disclosed is a wave gear device (1) for setting the flexible state of the principal section (30) of a flexible external gear in a normal-deflection state (at a deflection coefficient ?=1). The moving locus of a tooth profile in the principal section (30) is determined by a rack approximation, and a similar curve (BC), which is obtained by similarly transforming a curve (AB) cut from that moving locus, is used to define the fundamental addendum shape of the tooth profile in the principal section.

Abstract: A ball screw/nut type linear actuator (1) where a ball nut (32) moves in forward-backward directions by rotation of a ball screw shaft (31) connected to a motor (22), wherein the ball screw shaft (31) is connected and fixed, in a small diameter hollow section (22c) of the motor shaft (22), to the motor shaft so that a part of the locus of the movement of the ball nut (32) also enters into a large diameter hollow section (22a) of the motor shaft (22). The construction eliminates the need of a coupling for connecting the motor shaft (22) and the ball screw shaft (31) and enables the ball screw shaft (31) to be supported together with the motor shaft (22) by bearings (27, 28) of the motor. As a result, a support bearing for supporting the ball screw shaft can be eliminated. Thus, a short and light linear actuator is realized.

Abstract: A wave generator (4) of a wave gear device (1) is formed from a material in which only the minor axis-side portions (51, 52), which include the two end portions (51a, 52a) of an elliptical minor axis Lmin, has a larger coefficient of linear expansion than the other portions. When the temperature of a rigid cam plate (5) increases during high-speed rotational input, the minor axis-side portions (51, 52) thermally expand considerably more than the other portions do, and balls (10) other than several balls (10b) on a minor axis Lmin of a wave bearing (7) enter a tight state and form a locked state in which the wave bearing (7) rotates integrally with the rigid cam plate (5). Since the generation of agitation resistance of the lubricating agent due to the high-speed rolling movement of the balls (10) during high-speed rotational input can be avoided or reduced, a reduction of the torque transmission efficiency caused by the agitation resistance can be prevented or inhibited.

Abstract: The non-linear elastic deformation component included in the angular transmission error of an actuator provided with a wave gear drive is a component of the angular transmission error occurring due to elastic deformation of a flexible externally-toothed gear when the direction of rotation of the motor shaft changes. This component can be analyzed by driving the motor in a sine-wave shape. A model of the non-linear elastic deformation component (non-linear model) obtained from the analysis results is used to store data or a function for compensating for this component in a motor-control device. Compensation for the non-linear elastic deformation component (?Hys) is added to a motor-shaft angle command (?*M) as a compensation input (N?*TE) for feed-forward compensation. As a result, the non-linear elastic deformation component (?Hys) can be effectively reduced, and the positioning precision of the actuator can be improved.

Abstract: A multiple-rotation absolute-value encoder of a geared motor, wherein the geared motor (10) reduces the rotational speed of a motor shaft (12) and takes it out from a gear shaft (14) to drive a machine device (15) in an operating range corresponding to two rotations of the gear shaft (14). The multiple-rotation absolute-value encoder (20) fitted to the geared motor (10) is made up of a gear shaft absolute value encoder (30) for detecting the absolute position of the gear shaft (14) and a load side absolute value encoder (50) having a two-pole magnet (51) and a magnetic sensor (52) rotating at a rotational speed reduced to half the rotational speed of the gear shaft (14) through the magnetic gear (40).

Abstract: A galvano-scanner system (1) has a position-controlling microcomputer (31) mounted on a scanner driver (3) of a galvano scanner (2), wherein a position detection signals outputted from a positional sensor (14) of the galvano-scanner (2) are sampled, the current position of the galvano-scanner (2) is updated on the basis of sampling results, when movement distance amount command data are input, the movement distance amount command data are converted to an address change amount for the galvano-scanner (2), the address change amount is added to the current position to obtain a movement destination address. The movement destination address is converted to an analog position command and supplied to a drive circuit (33). The drive circuit (33) generates position command voltage corresponding to the analog position command and causes to move the galvano scanner (2) by that movement distance. The galvano-scanner (2) can be controlled in a simple manner to move from a current position to an arbitrary position.