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1. 发明专利

JP2008119757A Master-slave device, master device, slave device, control method, and computer program 审中-公开
标题翻译：主从设备，主设备，从设备，控制方法和计算机程序
公开(公告)号：JP2008119757A
公开(公告)日：2008-05-29
申请号：JP2006302787
申请日：2006-11-08
申请人： Keio Gijuku , Ntt Docomo Inc , 学校法人慶應義塾 , 株式会社エヌ・ティ・ティ・ドコモ
发明人： MIURA KANAKO , SHOJI MICHIHIKO , FURUKAWA HIROTAKA , OYA TOMOYUKI , ONISHI KOHEI , OMORI HIROMITSU , MURAKAMI TOSHIYUKI , YAMUKAI TAKAHIRO , NISHI HIROAKI , NATORI KENJI , TSUJI TOSHIAKI
IPC分类号： B25J3/00 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To provide a master-slave device, a master device, a slave device, a control method, and a computer program, wherein best stability and operability are assured even when the communication delay and the variation of the delay exist. SOLUTION: In the master-slave device 1 comprising the master device 2 having a master side operation terminal 6 to be operated by an operator, the slave device 4 having a slave side operation terminal 40 to be operated according to the operation of the master side operation terminal 6 by the operator, and a communication network connecting the master device 2 with the slave device 4, the driving state of the master side operation terminal 6 is controlled by changing master side control parameters according to the state of the communication network, and the driving state of the slave side operation terminal 40 is controlled by changing slave side control parameters. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供主从设备，主设备，从设备，控制方法和计算机程序，其中即使通信延迟和通信延迟的变化也能确保最佳的稳定性和可操作性延迟存在。解决方案：在包括具有要由操作者操作的主机侧操作终端6的主设备2的主从设备1中，具有从动侧操作终端40的从设备4将根据操作操作员的主机侧操作终端6以及连接主装置2与从装置4的通信网络，通过根据通信状态改变主控制控制参数来控制主机侧操作终端6的驱动状态网络，并且通过改变从属侧控制参数来控制从侧操作终端40的驱动状态。版权所有（C）2008，JPO＆INPIT

2. 发明专利

JP2005329857A Flywheel device for attitude control 审中-公开
标题翻译：用于姿态控制的飞行器设备
公开(公告)号：JP2005329857A
公开(公告)日：2005-12-02
申请号：JP2004151284
申请日：2004-05-21
申请人： Keio Gijuku , 学校法人慶應義塾
发明人： TSUJI TOSHIAKI , ONISHI KOHEI
IPC分类号： B64G1/28
摘要： PROBLEM TO BE SOLVED: To provide a high-torque, high-speed flywheel device for attitude control having a small and simple constitution without requiring a large power supply.
SOLUTION: The flywheel device for attitude control is mounted to an object of which attitude is controlled and is used for controlling the attitude with a reaction torque. A wheel 1 is arranged rotatably, an electric motor 2 of a driving torque source is connected with a rotating shaft 4 thereof, a brake mechanism 5 for braking the rotation of the wheel 1 is provided, and a brake controller 6 for controlling the brake torque by the brake mechanism 5 is provided.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了提供具有简单结构的姿态控制的高扭矩，高速飞轮装置，而不需要大的电力供应。＆lt; P＆gt;解决方案：用于姿态控制的飞轮装置安装到控制姿态的物体上，并用于通过反作用力矩控制姿态。车轮1可旋转地布置，驱动力矩源的电动机2与其旋转轴4连接，设置用于制动车轮1的旋转的制动机构5，以及用于控制制动转矩的制动控制器6 通过制动机构5设置。版权所有（C）2006，JPO＆NCIPI

3. 发明专利

JP2007154923A Flexible actuator 有权
标题翻译：柔性执行器
公开(公告)号：JP2007154923A
公开(公告)日：2007-06-21
申请号：JP2005347389
申请日：2005-12-01
申请人： Hitachi Ltd , Keio Gijuku , 学校法人慶應義塾 , 株式会社日立製作所
发明人： ONISHI KOHEI , TSUJI TOSHIAKI , OGATA KIMIYOSHI , TSUJI KOICHIRO , KOBAYASHI HIDEYUKI , KUBO RYOGO , SOEDA YUJIRO , NAGATOMI HIROYUKI , NISHIMURA KOICHI , KAWAI TOSHIKAZU
IPC分类号： F16C1/12 , F16C1/20 , F16C1/26
摘要： PROBLEM TO BE SOLVED: To accurately transmit, from a direct drive motor, forces in two directions acting on an object to be driven, while enabling spatially optionally arranging the direct drive motor and the object to be driven, in a flexible actuator.
SOLUTION: The flexible actuator has a linear type direct drive motor 101 generating an axial driving force, and a thrust wire 102 transmitting the axial driving force by the direct drive motor 101 to the object 102 to be driven. The thrust wire 102 has double structure constituted of a tubular outer member with flexibility, and an inner member having flexibility, disposed to be axially movable in the outer member, and having axial stiffness higher than the stiffness in a direction vertical to an axis. Both end parts of the inner member are respectively joined to the direct drive motor 101 and the object 103 to be driven.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：为了从直接驱动马达精确地传递作用在待驱动物体上的两个方向上的力，同时能够在空间上任意地将直接驱动马达和被驱动物体布置在柔性致动器。解决方案：柔性致动器具有产生轴向驱动力的直线式直接驱动电动机101和将直接驱动电动机101的轴向驱动力传递到待驱动对象102的推力线102。推力线102具有由具有柔性的管状外部构件和具有柔性的内部构件构成的双重结构，该内部构件设置成在外部构件中可轴向移动，并且具有比垂直于轴线的方向上的刚度高的轴向刚度。内部构件的两个端部分别连接到直接驱动马达101和被驱动的物体103。版权所有（C）2007，JPO＆INPIT

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