Abstract: A parallel robot comprises a base, three set of arm assemblies disposed on the base at a predetermined spacing, and a bracket member which is supported by the arm assemblies and to which an end effector is attached. Each of the arm assemblies comprises a pair of motors mounted on the base to face each other with a predetermined clearance and a pair of arms which are supported by the motors to be swung, respectively. Each of the arms comprises a first arm portion and a second arm portion. The first arm portion and the second arm portion of each arm are connected with each other through a first joint means, and the second arm portion of each arm is connected with the bracket through a second joint means.

Abstract: An apparatus and method is provided for identifying beer barrels and the like by means of omnidirectional reading of coded labels affixed to the top end face of each barrel. The apparatus and method provides for machine readability of the coded labels and the subsequent systematic handling of the barrels through the use of a particular code label arrangement using multiple labels and multiple code scanners. In accordance with this method, four labels having identical codes are placed in such an array that pairs of labels are oriented at an angle of about 45.degree. relative to each other. A pair of spaced optical code readers scan the code bearing end faces of the barrels as they are conveyed through an identification region. The scanning beams are spaced by a distance greater than the diameter of the barrels and are arranged to converge at a location remote from the conveyor at an angle of about 45.degree..

Abstract: Carbon oxysulfide is obtained in high yield and with high product selectivity and conversion rates by the sulfurization of methanol in the gas phase at elevated temperatures. The starting methanol utilized in the process may be advantageously supplied from natural gas generated at petroleum production sites.