Abstract: A harmonic speed reducer for robots is provided with a frame, an annular circular spline, a cylindrical flexspline, and an elliptical wave generator. The frame has internal threads each tapped parallel to the center axis line, the threads each extending from a circular spline mounting seat to the inside of the frame. The internal thread in the circular spline mounting seat has a peripheral edge portion at an opening thereof with a recess. The recess is formed so as to have a diameter larger than a diameter of the internal thread.

Abstract: A cellular electrophysiological measurement device includes a thin plate and a frame. The thin plate has a first surface with a depression and a second surface with a through-hole. The frame is in contact with an outer periphery on the second surface of thin plate. The thin plate has a laminated structure of at least two layers including a first material layer on the first surface and a second material layer on the second surface. The frame is formed of a third material layer. The structure allows the cellular electrophysiological measurement device to be not so vulnerable to breakage of thin plate and other damages, thereby having high production yield.

Abstract: A harmonic speed reducer for robots is provided with a frame, an annular circular spline, a cylindrical flexspline, and an elliptical wave generator. The frame has internal threads each tapped parallel to the center axis line, the threads each extending from a circular spline mounting seat to the inside of the frame. The internal thread in the circular spline mounting seat has a peripheral edge portion at an opening thereof with a recess.

Abstract: A cellular electrophysiological measurement device includes a thin plate and a frame. The thin plate has a first surface with a depression and a second surface with a through-hole. The frame is in contact with an outer periphery on the second surface of thin plate. The thin plate has a laminated structure of at least two layers including a first material layer on the first surface and a second material layer on the second surface. The frame is formed of a third material layer. The structure allows the cellular electrophysiological measurement device to be not so vulnerable to breakage of thin plate and other damages, thereby having high production yield.

Abstract: A robot control system is provided which controls a plurality of servomotors for moving a hand and articulated arms of a robot. The robot control system includes a plurality of position detectors, a motor control driver, and a serial communication path. The position detectors detect rotational positions of the servomotors and output the rotational positions in the form of serial data, respectively. The serial communication path is disposed between the motor control driver and the position detectors to transmit request signals provided by the motor control driver to the position detectors to request the position detectors to output the rotational positions.

Abstract: In a hardening temperature profile of a paste material for fixing a lead-frame to a semiconductor chip, a heating temperature from a first sub-zone to a third sub-zone is set to 150.degree. C. and a heating temperature from a fourth sub-zone to a sixth sub-zone is set to a maximum value of 230.degree. C. at a first heating step of a chip fixing step. Then, in the hardening temperature profile, a heating temperature of a seventh sub-zone is set to 180.degree. C. having a drop width from the sixth sub-zone of 50 degrees and a heating temperature of an eighth sub-zone is set to 130.degree. C. having a drop width from the seventh sub-zone of 50 degrees at a second heating step of the chip fixing step.

Abstract: An automatic transmission shift control system shifts an automatic transmission according to openings of mechanical throttle valve when a predetermined high speed shift pattern for a power mode of engine operation is either manually or automatically selected and according to openings of an electric throttle valve when a predetermined low speed shift pattern for an economic mode of engine operation is either manually or automatically selected.