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Research paper : Spinning process using robot technology (H. Arai)−158−Synthesiology - English edition Vol.5 No.3 (2012) References[1]O. Music, J.M. Allwood and K. Kawai: A review of the mechanics of metal spinning, Journal of Materials Processing Technology, 210, 3-23 (2010).[2]H. Arai: Robotic metal spinning - Shear spinning using force feedback control -, Proc. 2003 IEEE Int. Conf. on Robotics and Automation (ICRA2003), 3977-3983 (2003).[3]H. Arai: Robotic metal spinning - Forming non-axisymmetric products using force control -, Proc. 2005 IEEE Int. Conf. on Robotics and Automation (ICRA2005), 2702-2707 (2005).[4]H. Arai: Force-controlled metal spinning machine using linear motors, Proc. 2006 IEEE Int. Conf. on Robotics and Automation (ICRA2006), 4031-4036 (2006).[5]H. Arai, S. Fujimura and I. Okazaki: Synchronized metal spinning of non-axisymmetric tubes, The Proceedings of the 56th Japanese Joint Conference for the Technology of Plasticity, 687-688 (2005) (in Japanese).[6]H. 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Arai: Robotic metal spinning – Experimental implementation using an industrial robot arm, Proc. 2009 IEEE Int. Conf. on Robotics and Automation (ICRA2009), 140-145 (2009).[17]T. Koseki: Machikoba: Sekai O Koeru Gijutsu Hokoku (Small Factory: Report of Technology that Transcends the World), Shogakukan (1999) (in Japanese). [18]T. Koseki: Tetsu O Kezuru – Machikoba No Gijutsu (Cutting Iron – Small Factory Technology), Chikuma Shobo (2000) (in Japanese).[19]T. Takubo, H. Arai, Y. Hayashibara and K. Tanie: Human-robot cooperative manipulation using a virtual nonholonomic constraint, International Journal of Robotics Research, 21 (5-6), 541-553 (2002).[20]H. Arai and S. Tachi: Force detection and active power assistence of a direct-drive manipulator, Advanced Robotics, 2 (3), 241-257 (1987).[21]H. Arai: Metal Spinning Links (2003). http://staff.aist.go.jp/h.arai/splink_j.html (in Japanese) http://staff.aist.go.jp/h.arai/splink_e.html (in English)AuthorHirohiko AraiGraduated from the School of Engineering, The University of Tokyo in 1982. Joined Honda Motor Co., Ltd. in 1982. Joined the Mechanical Engineering laboratory, Agency of Industrial Science and Technology, Ministry of International Trade and Industry in 1984. Leader of Skill and Dynamics Research Group, Intelligent Systems Research Institute, AIST in 2001. Senior researcher under deputy director in 2003. Senior Researcher, Low-Formability-Materials Processing Group, Advanced Manufacturing Research Institute, AIST in 2009. Professor, Graduate School of Systems and Information Engineering (Graduate School Cooperation), University of Tsukuba from 2005. Doctor (Engineering). Fellow of the Japan Society of Mechanical Engineers; fellow of the Robotics Society of Japan; and member of the Japan Society for Technology of Plasticity and IEEE. In this research, was in charge of the original concept, machine development, spinning trials, and sales activity.Discussions with Reviewers1 Composition of chapter 4Question (Yasuo Hasegawa, AIST Tsukuba)In chapter 4 that summarizes the results of the research, please clarify the flow of the original research development from the setback of robot arm application, the attempts to create an advanced tool rather than creating a robot that may replace a skilled worker, the success of the approach to improve the machine, and the development of force-controlled spinning that enables the production of high added-value products.Answer (Hirohiko Arai)Chapter 4 was broken down into subchapters, and the titles that represent their contents were added. The point I wanted to emphasize in chapter 4 is: “Looking back at the progress of research, it can be seen that there was no consistent scenario and the research goal changed greatly due to external and coincidental factors.” This is closely related to the bottom-up, exploratory approach taken in this research. Several factors flowed in multiple streams in the process of R&D, various events occurred randomly, and flexible responses were taken for each event. I adopted such a style of description to reflect the reality of the rather chaotic research process.

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