Abstract: A wrist of an arm robot includes a first motor, a first speed reducer, a second motor, a transmission shaft, and a second speed reducer. The first motor is arranged at a base and generates a first rotational drive force to rotate a first distal portion. The first speed reducer is arranged at the first distal portion, includes a hollow portion, and reduces a rotational speed of the first rotational drive force. The second motor is arranged at the base and generates a second rotational drive force to rotate a second distal portion. The transmission shaft is arranged at the first distal portion and passes through the hollow portion of the first speed reducer. The second speed reducer is arranged at the first distal portion, is arranged coaxial with the first speed reducer, and is arranged along an axial direction of the first speed reducer.

Abstract: Disclosed is a method for producing a modified animal fiber, the method includes step 1 (31, 32) of pre-oxidizing a cystine bond (—S—S— bond) present in an epidermal cell of an animal fiber to bring the cystine bond into a low oxidation state, step 2 (33) of oxidizing with ozone the pre-oxidized —S—S— bond to bring the —S—S— bond into at least one high oxidation state selected from di-, tri-, and tetra-oxidation states, and step 3 (34) of reductively cleaving the —S—S— bond in a high oxidation state. The method imparts shrink resistance and pilling resistance to an animal fiber. In the step 2 (33) ozone is microdispersed in an aqueous solution comprising an anionic surfactant having a C8-24 alkyl group, and the animal fiber is contacted with the ozone.

Abstract: Disclosed is a method for producing a modified animal fiber, the method includes step 1 (31, 32) of pre-oxidizing a cystine bond (—S—S— bond) present in an epidermal cell of an animal fiber to bring the cystine bond into a low oxidation state, step 2 (33) of oxidizing with ozone the pre-oxidized —S—S— bond to bring the —S—S— bond into at least one high oxidation state selected from di-, tri-, and tetra-oxidation states, and step 3 (34) of reductively cleaving the —S—S— bond in a high oxidation state. The method imparts shrink resistance and pilling resistance to an animal fiber. In the step 2 (33) ozone is microdispersed in an aqueous solution comprising an anionic surfactant having a C8-24 alkyl group, and the animal fiber is contacted with the ozone.