九州大学 研究者情報
論文一覧
金田 礼人(かなだ あやと) データ更新日:2021.06.28

助教 /  工学研究院 機械工学部門


原著論文
1. Ujjal Krishnanand Mavinkurve, Seyed Amir Tafrishi, Ayato Kanada, Motoji Yamamoto, An Energy Based Control for Vibration Suppression in a Rigid Parallel Series Elastic Actuator, 2021 IEEE/SICE International Symposium on System Integration (SII), 10.1109/ieeeconf49454.2021.9382723, 2021.01.
2. Ayato Kanada, Tomoaki Mashimo, Tetsuto Minami, Kazuhiko Terashima, High response master-slave control eye robot system using gaze tracking data, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 10.1109/iros.2015.7353483, 2015.09.
3. Ayato Kanada, Tomoaki Mashimo, Kazuhiko Terashima, Study of Rotary-Linear Ultrasonic Motor Output Shafts, International Journal of Automation Technology, 10.20965/ijat.2016.p0549, 10, 4, 549-556, 2016.07, We propose output shafts with a preload generation mechanism to improve the output torque and thrust force of the rotary-linear ultrasonic motor. The stator is comprised of a single metallic cube with a through-hole, and the output shafts are inserted into the hole to generate motion in both its circumferential and axial directions arbitrarily. In this paper, two design concepts for optimizing the preload using the output shafts are examined. The first involves a cylinder shaft with micron-order accuracy diameter realization. The cylinder shaft makes contact with the entire inner surface of the stator and generates a preload between the stator and shaft. The second concept employs a spring shaft having a slightly larger diameter than the stator hole, which expands in the radial direction and generates the preload. Experiments show that these design concepts improve the output torque and thrust force..
4. Ayato Kanada, Tomoaki Mashimo, Kazuhiko Terashima, Flexible ultrasonic motor using an output coil spring slider, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 10.1109/iros.2017.8206449, 2017.09.
5. Ayato Kanada, Tomoaki Mashimo, Mobile Continuum Robot with Unlimited Extensible Sections, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 10.1109/iros.2018.8594340, 2018.10.
6. Ayato Kanada, Fabio Giardina, Toby Howison, Tomoaki Mashimo, Fumiya Iida, Reachability Improvement of a Climbing Robot Based on Large Deformations Induced by Tri-Tube Soft Actuators, Soft Robotics, 10.1089/soro.2018.0115, 6, 4, 483-494, 2019.08.
7. Ayato Kanada, Tomoaki Mashimo, Design and Experiments of Flexible Ultrasonic Motor Using a Coil Spring Slider, IEEE/ASME Transactions on Mechatronics, 10.1109/tmech.2019.2959614, 25, 1, 468-476, 2020.02.
8. Yunosuke Sato, Ayato Kanada, Tomoaki Mashimo, Self-Sensing and Feedback Control for a Twin Coil Spring-Based Flexible Ultrasonic Motor, IEEE Robotics and Automation Letters, 10.1109/lra.2020.3008118, 5, 4, 5425-5431, 2020.10.

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