Research Career 【 display / non-display 】

Research Career 【 display / non-display 】

• Development of the "Intelligence Micro Robot Factory"

  The Other Research Programs  

  Project Year：  -   

• Micro Processing under Microscopes

  Project Year：  -   

• Development of Versatile Micro Robots

  Project Year：  -   

Thesis for a degree 【 display / non-display 】

Thesis for a degree 【 display / non-display 】

• 多機能超小型ロボットの開発と顕微鏡下マイクロ・プロセッシンググ

  渕脇　大海 

    2004.03

  Doctoral Thesis   Single Work

  　View Summary

  電気通信大学 電気通信学研究科 機械制御工学専攻 XYθ軸の三自由度をもつ５ｃｍ３のホロノミック型自走式精密位置決め機構の開発と，四つの積層型圧電素子への入力電圧について説明している。、繰り返し補正法により、任意軸の直進動作、任意点を中心とする回転動作が可能である事を実験により示している。また、自走機構に搭載する球面アクチュエータの設計、試作、実験結果を報告している。応用実験として３台の自走機構と二台の球面アクチュエータによる微小パイプの操作、小型の羽虫の解体作業について報告している。

• 多機能マイクロロボットの開発と電顕内マイクロ・プロセッシング

  渕脇　大海 

    2001.03

  Master Thesis   Single Work

  　View Summary

  電気通信大学 電気通信学研究科 機械制御工学専攻 Xθ軸の二自由度をもつ２ｃｍ３の自走式精密位置決め機構の開発と，４台による走査電子顕微鏡の真空チャンバ内での静電気力によるピック＆プレース、ＹＡＧレーザー加工実験について報告している。さらに、二自由度の自走機構の経路生成の限界について述べ、XYθの独立三自由度を有する自走式精密位置決め機構が必要であることを，背景技術を参照しながら説明した。提案した三自由度の新機構の基本構成と動作原理の説明、設計、開発、実験結果について説明している。

Papers 【 display / non-display 】

Papers 【 display / non-display 】

• Multi-axial non-contact in situ micromanipulation by steady streaming around two oscillating cylinders on holonomic miniature robots

  O. Fuchiwaki,Y. Tanaka,H. Notsu, T. Hyakutake

  Microfluidics and Nanofluidics     2018.07  [Refereed]

  Joint Work

  DOI

• Design of XYθ stage driven by piezoelectric actuators with reverse pantograph structures by FEM analysis

  TOKUI Ryota, HAGIWARA Wataru, FUCHIWAKI Ohmi

  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )  2018 ( 0 )   2P1 - F18   2018

  Joint Work

  　View Summary

  <p>Recently, miniaturization of electronic chip parts used for electronic devices including smart phones and personal computers has been advanced. In our laboratory, we have been working on the development of XYθ mobile inchworm mechanism driven by piezoelectric actuators, which is compact, lightweight and capable of 3DoF precise and flexible positioning. This mobile mechanism moves wide positioning area, although conventional three-axial linear stages are limited their positioning area by their precise guides. In this research, we aim to design an integrated XYθ stage by the stiffness matrix method for initial design and FEM for detailed analysis. We magnify displacements of the piezoelectric actuators 30 times with the reverse pantograph structures organized by flexure hinges. We also analyze its natural frequency by eigenvalue analysis to estimate the maximum frequency of the inchworm locomotion.</p>

  DOI CiNii

• Measurement of stress-strain curves of coil-spring shaped shape memory alloy and verification of required performance for heat engine's actuator

  FUKUMOTO Kenta, FUCHIWAKI Ohmi

  The Proceedings of Conference of Kanto Branch ( The Japan Society of Mechanical Engineers )  2017 ( 0 )   2017

  Joint Work

  DOI CiNii

• Design of multistage piezoelectric displacement magnification mechanism and research on displacement expansion of XY<i>θ</i> precision stage

  HAGIWARA Wataru, FUCHIWAKI Ohmi

  The Proceedings of Conference of Kanto Branch ( The Japan Society of Mechanical Engineers )  2017 ( 0 )   2017

  Joint Work

  DOI CiNii

• Development of 2DoF displacement sensor by four linear encoders and XYΔθ-axis displacement measurements of inchworm mobile robot

  FUNATSU Hitoshi, FUCHIWAKI Ohmi

  The Proceedings of Conference of Kanto Branch ( The Japan Society of Mechanical Engineers )  2017 ( 0 )   2017

  Joint Work

  DOI CiNii

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Industrial Property 【 display / non-display 】

Industrial Property 【 display / non-display 】

• AMPLE MOVEMENT CONTROL UNIT, SAMPLE MOVEMENT PARAMETERS ACQUISITION METHOD, AND SAMPLE MOVEMENT CONTROL METHOD

  Industrial Property No 2,577,280(Canada), 2006-531248(Japan), 1 

  Ohmi Fuchiwaki, Naoto Chiba, Hisayuki Aoyama

  　View Summary

  APPARATUS FOR CONTROLLING MOVEMENT OF OBJECT TO BE EXAMINED, METHOD FOR ACQUIRING PARAMETER FOR MOVEMENT OF OBJECT TO BE EXAMINED, AND METHOD FOR CONTROLLING MOVEMENT OF OBJECT TO BE EAXMINED

Academic Awards Received 【 display / non-display 】

Academic Awards Received 【 display / non-display 】

• the Best Presentation Award -( Japan Soceiety of Precise Engineering (2003/03)

  2003    

Grant-in-Aid for Scientific Research 【 display / non-display 】

Grant-in-Aid for Scientific Research 【 display / non-display 】

• Grant-in-Aid for Scientific Research(C)

  Project Year： 2016.04  -  2019.03 

• Grant-in-Aid for Exploratory Research

  Project Year： 2012.04  -  2015.03 

• Grant-in-Aid for Young Scientists(B)

  Project Year： 2010.04  -  2012.03  Investigator(s): Ohmi Fuchiwaki

Other external funds procured 【 display / non-display 】

Other external funds procured 【 display / non-display 】

• Simulation of 3-axis state State feedback Controller with Bang-bang control for positioning mechanism driven by 6 piezoelectric actuators,, 2016 IEEE International Conference on Advanced Intellignet Mechatronics (AIM)

  Offer organization: Local Government 

  Project Year： 2016.07  -  2016.09 

• Study of wet-coil tweezers for pick & place of micro objects

  Project Year： 2016.04  -  2017.03 

• In-situ Repetitive Calibration of Microscopic Probes Maneuvered by Holonomic Inchworm Robot for Flexible Microscopic Operations, Proc. of IEEE Int'l. Conf. on Intelligent Robots and Systems (IROS 2015)

  Offer organization: Local Government 

  Project Year： 2015.10  -  2015.12 

• Formulation and optimization of pulley-gear-type SMA heat engine toward microfluidic MEMS motor, Proc. of IEEE Int'l. Conf. on Intelligent Robots and Systems (IROS 2014)

  Offer organization: Local Government 

  Project Year： 2014.09  -  2014.12 

• Design and Development of a 3-axis PID Controller for a Holonomic Precision Inchworm Robot, titleModeling and primary experiment of a 3-axis PID control with 50 nm resolution for a holonomic precision inchworm robot, Proc. of IEEE Int'l. Conf. on Robotics & Automation (ICRA 2014)

  Offer organization: Local Government 

  Project Year： 2014.05  -  2014.06 

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Presentations 【 display / non-display 】

Presentations 【 display / non-display 】

• Development of an inchworm mobile mechanism moved on non-magnetic surface by swithching of vertical inner force between two Y-shaped legs by solenoid actuators

  Asian Society for Precision Engineering and Nanotechnology (ASPEN 2013)  2013.11  

• Development of Wet Tweezers based on capillary force for Complex-Shaped and Heterogeneous Micro-Assembly

  IEEE Int'l. Conf. on Intelligent Robots and Systems (IROS 2013)  2013.11  

• Design and development of in-liquid micro robot with self-energy harvesting and self-propulsion functions -Study of coupled model of fluid dynamics and electro circuit and design of proof of concept prototype-

  Asian Society for Precision Engineering and Nanotechnology (ASPEN 2013)  2013.11  

• Motion Simulation of Debris Capture with Super Multi-link Space Manipulator

  Int'l Symp. on Space Tech. and Sciences 2013  2013.06  

• Design of an Integrated 3DoF Inner Position Sensor and 2DoF Feedforward Control for a 3DoF Precision Inchworm Mechanism

  IEEE Int'l. Conf. on Robotics & Automation (ICRA 2013)  2013.05  

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Past of Collaboration and Commissioned Research 【 display / non-display 】

Past of Collaboration and Commissioned Research 【 display / non-display 】

• Micro Processing System assisted by fiber grided YAG laser.

  Project Year：  -