Updated on 2026/04/28

写真a

 
ARUGA TAKAHIRO
 
Organization
School of Engineering Assistant Professor
Title
Assistant Professor
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Research Interests

  • Mechanism

  • Linkage

  • Spatial mechanism

  • Kinematics

  • Machine design

  • Robotics

Research Areas

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Design engineering

  • Informatics / Robotics and intelligent system

  • Informatics / Mechanics and mechatronics

Education

  • Tokyo Institute of Technology   School of Engineering   Doctoral Course, Mechanical Engineering Course, Department of Mechanical Engineering

    2021.4 - 2024.9

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    Country： Japan

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  • Tokyo Institute of Technology   School of Engineering   Master's Course, Mechanical Engineering Course, Department of Mechanical Engineering

    2019.4 - 2021.3

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    Country： Japan

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  • Tokyo Institute of Technology   School of Engineering   Department of Mechanical and Intelligent System Engineering

    2015.4 - 2019.3

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    Country： Japan

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  • Institute of Science Tokyo   School of Engineering   Doctoral Course, Mechanical Engineering Course, Department of Mechanical Engineering

    2024.10

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    Country： Japan

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Research History

  • Institute of Science Tokyo   Department of Mechanical Engineering, School of Engineering   Assistant Professor

    2025.4

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  • RWTH Aachen University   Institute of Mechanism Theory, Machine Dynamics and Robotics   Visiting Scholar

    2023.4 - 2023.6

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    Country：Germany

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Papers

  • Motion Analysis of Link Chains Induced from Spatial Prime Structures Reviewed

    Takahiro Aruga, Nobuyuki Iwatsuki, Kotaro Hoshiba

    Journa of Japan Society for Design Engineering   60 ( 4 )   217 - 236   2025.4

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    Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)  

    DOI： 10.14953/jjsde.2024.3038

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  • Number synthesis of spatial prime structures and their applications to kinematic analysis and design of spatial closed-loop link mechanisms

    Takahiro Aruga

    Institute of Science Tokyo, Ph. D. Thesis   2025.3

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    Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Doctoral thesis  

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  • Exhaustive Enumeration of Spatial Prime Structures Reviewed

    Takahiro Aruga, Nobuyuki Iwatsuki

    Machines   12 ( 8 )   529 - 529   2024.8

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    Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

    Prime structures are link chains with 0 DoF (degrees of freedom), not including subchains with 0 or fewer DoF, which are expected to be used in systematic kinematic and dynamic analyses of link mechanisms. This paper describes the exhaustive enumeration of spatial prime structures with three–five links. There will be more types of spatial prime structures than planar prime structures due to the variety in the DoF of kinematic pairs and the existence of prime structures with idle DoF. In the enumeration, the graphs which represent the connection of links and pairs are used. The vertices of the graphs represent the links of structures, and the edges represent the kinematic pairs. To consider the pair DoF, weights are set on edges. First, the numbers of pairs are calculated using Grübler’s equation. Second, the graphs corresponding to structures are enumerated, without considering pair DoF, and the isomorphic graphs and other inappropriate graphs are eliminated. Then, the combinations of pair DoF arrangement are enumerated, and the isomorphic graphs and graphs which correspond to non-prime structures are eliminated. Finally, prime structures with idle DoF are considered. As a result, 3, 13, and 97 kinds of spatial prime structures for 3, 4, and 5 links, respectively, are obtained.

    DOI： 10.3390/machines12080529

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MISC

  • Designing Planar Mechanisms with the Software Mechanism Developer (MechDev)

    Vincent Brünjes, Thomas Knobloch, Takahiro Aruga, Mathias Hüsing, Burkhard Corves

    Proceedings of The 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science   15 - 16   2023.11

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    Language：English   Publishing type：Research paper, summary (international conference)  

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Presentations

  • Kinematic analysis of spatial closed-loop link mechanisms based on spatial 3-link prime structures

    Takahiro Aruga, Nobuyuki Iwatsuki

    The 4th Jc-IFToMM International Symposium  2021.11 

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    Language：English   Presentation type：Oral presentation (general)  

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  • Number Synthesis of Spatial Prime Structures and Kinematic Analysis of Spatial Closed-loop Mechanisms Based on It

    Takahiro Aruga, Nobuyuki Iwatsuki, Ikuma Ikeda

    2020.10 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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Industrial property rights

  • 車椅子電動化装置

    遠藤玄, 有賀嵩紘, 髙田敦, 野田康平, 元岡歩, 田中 隆, 東 浩昭, 犬尾 武, 清水 治代, 山西 博道, 川端 眞人, 上原 隆浩, 森田 智好, 武田 英敏

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    Application no：特願2018-3986  Date applied：2018.1

    Announcement no：特開2019-122506  Date announced：2019.7

    Patent/Registration no：特許第7053000号  Date registered：2022.4  Date issued：2022.4

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Awards

  • The 4th International Jc-IFToMM Symposium, Young Investigator Fund Best Paper Award, Finalist

    2021.11   Jc-IFToMM   Kinematic analysis of spatial closed-loop link mechanisms based on spatial 3-link prime structures

    Takahiro Aruga

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  • 2018 Japan Society of Mechanical Engineers Hatakeyama Award

    2019.3  

    Takahiro Aruga

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  • 30th Hakuseikai MISE Award (Excellent Student Award)

    2018.3  

    Takahiro Aruga

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  • 29th Hakuseikai MISE Award (Excellent Student Award)

    2016.11  

    Takahiro Aruga

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