Abstract: A linear transport apparatus includes a transport cart, a first roller that rotates about a first rotation shaft extending from the transport cart along a first direction, a second roller that rotates about a second rotation shaft extending from the transport cart and forming an acute angle with the first rotation shaft, and a rail sandwiched between the first and second rollers to extend along a track on which the transport cart moves. The rail includes a first contact portion coming contact with the first roller and restricting movement of the transport cart in a second direction perpendicular to a direction in which the rail extends and the first direction, and a second contact portion that comes into contact with the second roller and is parallel to the second rotation shaft, and the rail includes a portion in which curvature of the track moves is different from another portion.

Abstract: A linear motor system includes: a mover including permanent magnets arranged in a traveling direction in a plane parallel to a plane formed by the traveling direction and a vertical direction; and a stator including an armature including an iron core in which projections around which windings are wound are arranged in the traveling direction, the armature being disposed to face the permanent magnets of the mover. The mover includes a mover body including a first main roller engaged with a first traveling surface disposed on the stator, a placing table on which a conveyance object is placed, and a sub-roller engaged with a second traveling surface disposed on an upper surface of the stator. The first main roller supports a magnetic attraction force generated between the stator and the mover, and the sub-roller supports a force in a direction opposite the magnetic attraction force acting on the mover.

Abstract: A linear transport apparatus includes a transport cart, a first roller that rotates about a first rotation shaft extending from the transport cart along a first direction, a second roller that rotates about a second rotation shaft extending from the transport cart and forming an acute angle with the first rotation shaft, and a rail sandwiched between the first and second rollers to extend along a track on which the transport cart moves. The rail includes a first contact portion coming contact with the first roller and restricting movement of the transport cart in a second direction perpendicular to a direction in which the rail extends and the first direction, and a second contact portion that comes into contact with the second roller and is parallel to the second rotation shaft, and the rail includes a portion in which curvature of the track moves is different from another portion.

Abstract: A conveying-path rotary switching unit that is a conveying path switching device includes a base, stators arranged along conveying paths for branching for a conveying carriage, a first conveying path provided on the base, and a second conveying path that is provided on the base and is different from the first conveying path. As for a conveying path on which the conveying carriage travels, the first conveying path and the second conveying path are switchable by rotation. The stators are used for both the first conveying path and the second conveying path in a shared manner.

Abstract: A linear motor system includes: a mover including permanent magnets arranged in a traveling direction in a plane parallel to a plane formed by the traveling direction and a vertical direction; and a stator including an armature including an iron core in which projections around which windings are wound are arranged in the traveling direction, the armature being disposed to face the permanent magnets of the mover. The mover includes a mover body including a first main roller engaged with a first traveling surface disposed on the stator, a placing table on which a conveyance object is placed, and a sub-roller engaged with a second traveling surface disposed on an upper surface of the stator. The first main roller supports a magnetic attraction force generated between the stator and the mover, and the sub-roller supports a force in a direction opposite the magnetic attraction force acting on the mover.

Abstract: A parameter identification device that identifies a parameter of a target system includes: a first calculation unit that calculates an extended state quantity in a second time step that is a next time step of a first time step, using a first equation, a first quantity in the first time step, and an input value to the system in the first time step; a second calculation unit that calculates an output of the system in the first time step, using the first equation, a second equation, the extended state quantity in the first time step, and the input value in the first time step; and an estimation unit that estimates the extended state quantity, using an input value to and an output value from the system acquired in each time step, the first calculation unit, and the second calculation unit.

Abstract: A controller for a parallel link mechanism includes a drive control unit that controls driving of a parallel link mechanism and a command section that gives a command for controlling an actuator to the drive control unit. The command section includes a natural frequency prediction unit that calculates a predicted value string of a natural frequency changing depending on the position of an end effector for each interpolation position of the end effector by using a dynamic model that simulates a mechanical system from a base to a link joint of the parallel link mechanism with a translational spring and simulates a mechanical system from the link joint to the end effector with one rigid body. The drive control unit includes a filter that changes a frequency component to be suppressed for each interpolation positions according to a predicted value string at each interpolation position of the end effector.

Abstract: A conveying-path rotary switching unit that is a conveying path switching device includes a base, stators arranged along conveying paths for branching for a conveying carriage, a first conveying path provided on the base, and a second conveying path that is provided on the base and is different from the first conveying path. As for a conveying path on which the conveying carriage travels, the first conveying path and the second conveying path are switchable by rotation. The stators are used for both the first conveying path and the second conveying path in a shared manner.

Abstract: A controller for a parallel link mechanism includes a drive control unit that controls driving of a parallel link mechanism and a command section that gives a command for controlling an actuator to the drive control unit. The command section includes a natural frequency prediction unit that calculates a predicted value string of a natural frequency changing depending on the position of an end effector for each interpolation position of the end effector by using a dynamic model that simulates a mechanical system from a base to a link joint of the parallel link mechanism with a translational spring and simulates a mechanical system from the link joint to the end effector with one rigid body. The drive control unit includes a filter that changes a frequency component to be suppressed for each interpolation positions according to a predicted value string at each interpolation position of the end effector.