Faculty Profiles - KANDA Takefumi

Papers - KANDA Takefumi

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インテリジェントMcKibben型アクチュエータの開発（第1報，柔軟変位センサの内蔵による位置サーボ系の実現） Reviewed

脇元修一, 鈴森康一, 神田岳文

日本機械学会論文集（Ｃ編） 2005

先鋭化ファイバーを接着した水熱合成法PZT膜プローブセンサ Reviewed

田村宙, 黒澤実, 神田岳文

信学技報 US2005-2,pp.7-12 2005

Development of intelligent McKibben actuator (1st report, realization of position servo system by soft displacement sensor)

Shuichi Wakimoto, Koichi Suzumori, Takefumi Kanda

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 71 ( 9 ) 2754 - 2760 2005

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Japan Society of Mechanical Engineers

This study aims at development of Intelligent McKibben actuator, in which micro displacement/ pressure sensors and micro valves are integrated. In this first report, development of rubber displacement sensor and its application to servo system using McKibben actuator are reported. Recently McKibben actuator attracts engineers because of light weight, high output power and high compliance. But in case of servo control using it, the systems need encoders or potentiometers, so the systems tend to grow in size and to take away from compliance at present. To solve thus problems, soft rubber sensor was developed, which was made of rubber covered its surface with conductive resin thinly. Electrical resistance of rubber sensor changes in response to extending motion of the rubber. We built the rubber sensor into McKibben actuator and named it Intelligent McKibben actuator. Servo system using single Intelligent McKibben actuator was realized, and tested. Furthermore, we fabricated a robot arm system configured by two Intelligent McKibben actuators. Experimental results showed that the actuator has good potential for realizing polymer-made intelligent actuator.

DOI： 10.1299/kikaic.71.2754

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Development of Electromagnetic Nutation Motor (Electromagnetic Investigation) Reviewed

Koichi SUZUMORI, Takashi NAGATA, Takefumi KANDA, Kazuo UZUKA, Isao ENOMOTO

Journal of Robotics and Mechatronics 2004

Development of Intelligent Rubber-actuator : 2th report; Application to Antagonistic Mechanism with Nonlinearity Compensation

WAKIMOTO Shuichi, SUZUMORI Koichi, KANDA Takefumi

The proceedings of the JSME annual meeting 2004 261 - 262 2004

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

This study aims at development of soft intelligent rubber actuator of McKibben style. McKibben rubber actuator is an artificial muscle, which is pneumatically driven. At present, almost servo systems using this rubber actuator are driven with external potentiometer or encoder. So the systems tend to grow in size and to takeaway from compliance. In the first report, a soft displacement sensor was developed, and it was incorporated in rubber actuator. We named its actuator Intelligent Rubber-actuator. In this report. We fabricated a robot arm system configured by two Intelligent Rubber-actuators set antagonistically. Experiments with its system show that Intelligent Rubber-actuator has high possibility for application of several robot systems.

DOI： 10.1299/jsmemecjo.2004.4.0_261

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Development of New Functional fluidic devices for Micro Reactor

SUZUMORI Koichi, KANDA Takefumi, NAGATA Takashi, MITANI Shuichi, SAKATA Yusaku, MUTO Akinori

The proceedings of the JSME annual meeting 2004 259 - 260 2004

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

This paper shows two types of new functional fluidic devices for chemical micro reactors; (1) an active catalytic system and (2) a micro flask. The active catalytic system consists of a micro chamber with two electrode thin films and micro catalytic particles of 100 to 500 micron meter in diameter. Electrostatic force enables handling micro catalytic particles in micro chambers to realize uniform mixing and acceleration of chemical reactions. A micro flask is also fabricated using piezoelectric materials, which oscillates to work as a micro agitator and an ultrasonic cleaner. The potentials of these new functional fluidic devices in micro reactors are discussed.

DOI： 10.1299/jsmemecjo.2004.4.0_259

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Development of intelligent cylinder : 2nd report; Adaptive control using intelligent pneumatic cylinder

SUZUMORI Koichi, KANDA Takefumi, TANAKA Junichi, MIYASHITA Yukihiro

The proceedings of the JSME annual meeting 2004 263 - 264 2004

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

We developed an intelligent pneumatic cylinder that realizes positioning servo control using a built-in reflective optical encoder. The developed cylinder is 133mm long, the cylinder's stroke is 40mm, and positioning resolution is 338*m. In this report, we report a new adaptive control algorithm for this cylinder. This algorithm is based on a way that controls switching timing of valve to minimize overshoot of cylinder rod. We compared the adaptive control with servo control from the view point of positioning and convergence speed. We realized high speed positioning control and convergence in any positions, which is difficult for conventional pneumatic cylinders.

DOI： 10.1299/jsmemecjo.2004.4.0_263

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Vibration Velocity Limitation of Transducer Using Titanium-Based Hydrothermal Lead Zirconate Titanate Thick Film Reviewed

T. Kanda, Y. Kobayashi, M. K. Kurosawa, T. Higuchi

Jpn. J. Appl. Phys. 2003

Sensitivity of a miniaturized touch probe sensor using PZT thin film Reviewed

T. Kanda, M. K. Kurosawa, T. Higuchi

Ultrasonics, May 2002. 2002

Estimation of Resolution and Contact Force of a Longitudinally Vibrating Touch Probe Sensor using Lead Zirconate Titanate (PZT) Thin-Film Vibrator Reviewed

T. Kanda, T. Morita, M. K. Kurosawa, T. Higuchi

Jpn. J. Appl. Phys 2001

Performance of Hydrothermal PZT Film on High Intensity Operation Reviewed

T. Kanda, M. K. Kurosawa, H. Yasui, T. Higuchi

Sensors and Actuators A 2001

Estimation of the Hydrotheramally Deposited Lead Zirconate Titanate (PZT) Reviewed

T. Kanda, Y. Kobayashi, M. K. Kurosawa, H. Yasui, T. Higuchi

Jpn. J. Appl. Phys. 2001

A flat type touch probe sensor using PZT thin film vibrator Reviewed

T. Kanda, T. Morita, M. K. Kurosawa, T. Higuchi

Sensors and Actuators A 83, 67-75 2000

A rod-shaped vibro touch sensor using PZT thin film Reviewed

Takefumi Kanda, Takeshi Morita, Minoru Kuribayashi Kurosawa, Toshiro Higuchi

IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control 46 ( 4 ) 875 - 882 1999.7

Language：English Publishing type：Research paper (scientific journal)

We have fabricated a probe sensor. This sensor is for high precision coordinate measuring machines, surface roughness measuring tools, or scanning probe microscopes (SPM). This sensor consists of a rod vibrating in the axial direction. The longitudinal vibration was excited and also detected by PZT thin film. The PZT thin Him was fabricated by a hydrothermal method. The hydrothermal method uses the reaction process in hot and high pressure aqueous solutions. We made a 27.8-mm long sensor. Its resonance frequency was 116 kHz. The sensitivity and resolution were evaluated by experiments. We succeeded in oscillating the rod and detecting the contact. © 1999 IEEE.

DOI： 10.1109/58.775653

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A rod-shaped vibro touch sensor using PZT thin film Reviewed

T. Kanda, T. Morita, M. K. Kurosawa, T. Higuchi

IEEE Trnas.Ultrasonics,Ferroelectrics and frequency Control 46(4), 875-882 1999

Single process to deposit lead zirconate titanate (PZT) thin film by a hydrothermal method Reviewed

T Morita, T Kanda, Y Yamagata, M Kurosawa, T Higuchi

JAPANESE JOURNAL OF APPLIED PHYSICS PART 1-REGULAR PAPERS SHORT NOTES & REVIEW PAPERS 36 ( 5B ) 2998 - 2999 1997.5

Language：English Publishing type：Research paper (scientific journal) Publisher：JAPAN J APPLIED PHYSICS

The hydrothermal method to deposit lead zirconate titanate (PZT) thin film is anew method reported by Tsurumi et al. in 1991. This method consists of two linked processes. We have found that the film deposited by the first process is not PZT but separated lead zirconate (PZ) and lead titanate (PT). In this paper, we report that a PZT thin film was successfully deposited by a single process. The chemical construction and composition of the film were analyzed. The Zr/(Zr+Ti) ratio of the PZT film was controlled by changing the ionic composition of the solution.

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Papers - KANDA Takefumi