Course Name Year Term Period Faculty / Graduate School All Instructors Credits
33038:[2025 Spring]Actuators (5T) 2025 Spring Wed3 College　of　Science　and　Engineering HAYAKAWA YASUHIRO 2

Campus

BKC

Class Venue

Forest306

Language

日本語

Course Outline and Method

Classes are held face-to-face. Lectures will use resumes and texts to provide an overview of the types of actuators (electrical, pneumatic, hydraulic, functional fluids, etc.) used in robots and mechatronics devices, as well as their operating principles. Visual aids will also be used to show cutting-edge robots and electric vehicles, and students will learn about examples of actuator use. To deepen their understanding, specific examples will be given, and a method for selecting actuators to achieve the desired movements will be explained. Efficient methods for using several actuators will be explained.
Quizzes and assignment reports will be given on a regular basis. Correct answers will be presented for quizzes after answers are submitted, and explanations will be provided for assignment reports.

Student Attainment Objectives

(1) Be able to understand and explain the types of actuators and their operating principles.
(2) Be able to select the optimal actuator for the intended use.
(3) Be able to understand and explain the connections between the courses taken at university.

Recommended Preparatory Course

ロボットなど制御機器開発に必要不可欠なアクチュエータ全般に関して学習するので，電気系，機械系，制御系の科目を履修しておくことが望ましい．

Course Schedule

Lecture/Instructor（When there are multiple instructors) Theme
Keyword, References and Supplementary Information
-

+R course subject. +R course will be held in the first lecture. For details, see manaba+R.

1

Overview

Outline of what will be learned in actuator engineering and examples of robot development

2

Introduction to Mechatronics Design 1

System configuration (arrangement of actuators and sensors), sensor selection specifications

3

Introduction to Mechatronics Design 2

・Force transmission mechanism, design, role of gear ratio,
・Analogy between electrical and mechanical systems

4

Structure and driving principle of DC servo motor
Structure and driving principle of AC servo motor

Modeling, Characteristic Equation, Angle Control

5

AC servo motor structure and driving principle

・Synchronous motors, induction motors,
・Rotating magnetic field, relationship between generated torque and angular velocity,
・Motor control methods

6

Stepping motor structure, driving principle, motor selection

・Understanding the driving principle
・Permanent magnet type, variable reluctance type, combined type
・Motor characteristic diagram
・Motor selection method

7

Electric motor control and usage examples
[Quiz 1]

・Characteristics and selection of various motors
・Characteristics, selection method
・Power control, PWM control, application examples (CD players, fax machines, etc.)
[Exam scope (lectures 1 to 6)]

8

Overview of hydraulic and pneumatic equipment
Pneumatic equipment 1

・Overview of hydraulic and pneumatic pumps, compressors, and actuators
・Air-driven actuators (cylinders, rubber artificial muscles, motors)

9

Pneumatic Equipment 2

Learn about the structure, features and uses of various pneumatic valves

10

Pneumatic equipment 3
Overview of fluid mechanics and thermodynamics

・Explanation of various pneumatic valves (continued)
・Bernoulli's theorem, compressibility, energy equation

11

Pneumatic Control

Learn how to control pneumatic actuators using valves

12

Hydraulic system

・Explanation of hydraulic actuators and motors,
・Hydraulic control methods

13

Hydraulic systems
Magnetic fluids, etc.
Explanation of new actuators

・Advanced technology for hydraulic systems
・Explanation of ER and MR fluids
・Piezoelectric ceramics, ultrasonic motors, shape memory alloys

14

Actuator Overview
[Quiz 2]

・Review what you have learned about actuators.
[Exam scope (lectures 1 to 13)]

Class Format

Classes 1 to 14 will be held face-to-face.

Recommendations for Private Study

In order to understand this class and achieve its objectives, you will need to read the textbook beforehand. Also, a resume will be distributed, so please study in advance.

Furthermore, we would like you to develop an interest in the actuators found in the control devices that are all around us, and compare them with the actuators you learned about in the lecture.

You will be assigned two report assignments, each requiring about two hours of work.

Grade Evaluation Method

Kind Percentage Grading Criteria etc.
Final Examination (Written) 80

Regular exams will be conducted to assess students' final learning achievement in line with all of their goals.
Report Examination
(A report to be submitted by the unified deadline)		 0

Exams and/or Reports other than those stated above, and Continuous Assessment　
(Evaluation of Everyday Performance in Class)		 20

Regular marks will be assessed based on verification tests during lectures and the submission of assignment reports.
Verification tests to check learning achievement will be conducted twice during the lecture period in face-to-face lectures using manaba+R. Regular marks will also be assessed based on assignment reports that are submitted several times. The content of the report assignments will mainly be in written format.

Grade Evaluation Method （Note）

I think that A+ grades should account for about 2% of the total, A should account for 20% of the total, and B and C should account for about 60% of the total.

Advice to Students on Study and Research Methods

Take a careful look at the actuators you see around you.

Textbooks

Title Author Publisher ISBN Code Comment
The basics of control actuators Sadao Kawamura (Ritsumeikan University), Satoshi Tadokoro (Tohoku University), Yasuhiro Hayakawa (National Institute of Technology, Nara College ), Sadahiro Matsuura (Panasonic), Makoto Nogata (Ritsumeikan University) Corona Publishing 978-4-339-04524-6

Textbooks （Frequency of Use, Note）

In addition to the textbook, a reference syllabus will be distributed. The textbook and syllabus will be used in each lecture.

Reference Books

Title Author Publisher ISBN Code Comment
Introduction to Electronic Machinery Series: Actuator Technology Eiji Takano, Mitsufumi Kato Rikogakusha Publishing 978-4-274-06983-3
Micromechanical Systems Toshiro Higuchi, Koji Ikuta Fujino Techno System

Reference Books （Frequency of Use, Note）

Please use this as a reference for self-study.

Web Pages for Reference

None in particular

How to Communicate with the Instructor In and Out of Class(Including Instructor Contact Information)

Learning Management System （manaba+R）

Other Comments

Nothing in particular
【科目ナンバリング・カリキュラムマップはこちらから/Click here to see the Curriculum-Map and Course-Numbering】
URL:https://secure.ritsumei.ac.jp/students/pathways-future/course/curriculum.html/