Tanaka Hidetake

The authors have proposed inclined planetary machining for drilling CFRP, which can produce higher-quality holes than conventional drills and helical machining. A portable inclined planetary machining device has been developed. Conventional inclined planetary machining devices were designed to incline the entire tool spindle and required manual adjustment. In this study, the tool tilting mechanism was automated, and a structure was created in which only the tool part could be tilted, thereby reducing vibration. The device design and mechanism were verified in this report.

近年注目を浴びる技術に3Dプリンタがある．知名度が高いものは積層造型法であるが，薄板造型では層間強度の問題から，実用的な強度を持たせることは難しい．これらの問題を解決する手段として，試料に熱可塑性CFRTPを用い，遂次成形による3次元造型法を提案した．これは，加熱軟化させた試料をハンマでの逐次的な押下により3次元形状を得る方法である．本研究では予備/成形実験を行い，成形条件や成形性の知見を得た．

The study deals with a development of a forging type rapid prototyping system on the basis of CAD data. In order to automate a metal hammering working that has been operated by human handwork conventionally, an industrial robot having high degree of freedom is adopted. A servo-hammering unit is designed to perform hammering operation imitating that of a skilled worker and it applies impulsive load to the workpiece. A CAM system suitable for metal hammering working is developed. Especially, the posture of the hammer is considered under deforming in progress. From the experimental result, the system can deform the workpieces (aluminum plate) on the basis of CAD data and it having an ability to perform the automatic metal hammering on the basis of CAD data as a rapid prototyping system is found.

The study deals with a control of chamfering quality by an industrial robot. chamfering quality means property of chamfered edge shape for various functions. In order to perform chamfering by a robot, Try to categorize the chamfered edge shape according to its own function, i. e. "for safe", "for insertion" and "for design", these functions were not defined in the conventional design field. A tool path is generated using CAD data followed by conversion, to control the robot without requiring a teaching-playback operation. Adopt a non-rotational cutting tool instead of rotational tools for its capability of chamfering without scars and burrs. Develop a chamfering angle and width control device to compensate for positioning errors and to control the width and angle of chamfering part which is attached to the robot. From the experimental result, the system is found to have an ability of chamfering quality control by an industrial robot.