Abstract: A linear-motion telescopic mechanism according to the present invention includes a plurality of block members (22) by which an arbitrary arm length is achieved in such a manner that the plurality of block member (22) are rigidly connected to each other so as to elongate a linear-motion telescopic joint (J3). On the other hand, by separating the plurality of block members (22) one by one from a rigid alignment of the plurality of block members (22), the linear-motion telescopic joint (J3) is contracted. The block members (22) unfixed from the rigid alignment are still serially connected but not in a rigid manner. That is, the block members (22) thus unfixed can be flexed in any directions, and therefore can be housed inside a support member (1) in a compact manner.

Abstract: A linear-motion telescopic mechanism according to the present invention includes a plurality of block members (22) by which an arbitrary arm length is achieved in such a manner that the plurality of block member (22) are rigidly connected to each other so as to elongate a linear-motion telescopic joint (J3). On the other hand, by separating the plurality of block members (22) one by one from a rigid alignment of the plurality of block members (22), the linear-motion telescopic joint (J3) is contracted. The block members (22) unfixed from the rigid alignment are still serially connected but not in a rigid manner. That is, the block members (22) thus unfixed can be flexed in any directions, and therefore can be housed inside a support member (1) in a compact manner.

Abstract: A rotation and extension/retraction link mechanism which realizes a rotary joint having a virtual rotation axis is provided. A rotation and extension/retraction link mechanism 1 is configured so that a first link 5 having a first virtual center line 3 and a second link 9 having a second virtual center line 7 are coupled through a rotation and extension/retraction joint mechanism 11. The rotation and extension/retraction joint mechanism 11 is configured to couple the first link 5 and the second link 9 so that when the second virtual center line 7 rotates relative to the first virtual center line 3 from a state where the first virtual center line 3 entirely overlaps with the second virtual center line 7, while crossing the first virtual center line 3, an intersection between the first virtual center line 3 and the second virtual center line 7 is displaced on the first virtual center line 3 by a predetermined distance corresponding to an angle of the rotation.

Abstract: An actuator using a fluid cylinder in which rigidity may be attained with a simple configuration, includes a fluid cylinder, a first choke valve device, and a second choke valve device. The first choke valve device is disposed between a fluid pressure source and a first chamber, and the second choke valve device is disposed between the fluid pressure source and a second chamber. An opening of a valve of a discharge valve mechanism included in each of the choke valve devices is set so as to be in inverse proportion to a target pressure in the chamber in which the fluid pressure is adjusted by the choke valve device.

Abstract: A robot hand equipped with a function of gently pinching an object may include a single degree of freedom joint for allowing bending or stretching at a connecting portion between a distal phalange section and a middle phalange section. The robot hand may further include a driving mechanism for causing this joint to make a rotating motion within a predetermined angular range. This driving mechanism is constituted by a motor and a speed reducer. The joint and the driving mechanism are configured so that the distal phalange section is rotated relative to the middle phalange section in two directions, namely, an inward direction and an outward direction within the predetermined angular range from a state where the distal phalange section is arranged in a straight line with the middle phalange section.

Abstract: An actuator using a fluid cylinder in which rigidity may be attained with a simple configuration, includes a fluid cylinder, a first choke valve device, and a second choke valve device. The first choke valve device is disposed between a fluid pressure source and a first chamber, and the second choke valve device is disposed between the fluid pressure source and a second chamber. An opening of a valve of a discharge valve mechanism included in each of the choke valve devices is set so as to be in inverse proportion to a target pressure in the chamber in which the fluid pressure is adjusted by the choke valve device.

Abstract: The present invention provides an actuator using a fluid cylinder capable of imparting stiffness to a fluid cylinder such as an air cylinder with a simple constitution, a control method thereof and a choke valve device. The actuator is provided with a fluid cylinder 1, a first choke valve device 3 and a second choke valve device 5. The fluid cylinder 1 has a cylinder chamber 7 and a piston 12 dispose slidably in the cylinder chamber 7 so as to partition the cylinder chamber 7 into a first chamber 9 and a second chamber 11. The first choke valve device 3 is disposed between a fluid pressure source and the first chamber 9; and the second choke valve device 5 is disposed between the fluid pressure source and the second chamber 11. Each of the choke valve devices 3 and 5 is provided with a discharge valve mechanism capable of changing the opening of the valve.

Abstract: A robot hand equipped with a function of gently pinching an object to be held is provided. A single degree of freedom joint for allowing bending or stretching is provided at a connecting portion between a distal phalange section 7 and a middle phalange section 9. Then, a driving mechanism for causing this joint to make a rotating motion within a predetermined angular range is provided. This driving mechanism 14 is constituted by a motor 15 for driving the joint and a speed reducer 17. The motor 15 is included in the middle phalange section 9 and generates a driving force for rotating the joint. The speed reducer 17 reduces a speed of the motor 15 and transmits the reduced speed to the joint.

Abstract: A rotation and extension/retraction link mechanism which realizes a rotary joint having a virtual rotation axis is provided. A rotation and extension/retraction link mechanism 1 is configured so that a first link 5 having a first virtual center line 3 and a second link 9 having a second virtual center line 7 are coupled through a rotation and extension/retraction joint mechanism 11. The rotation and extension/retraction joint mechanism 11 is configured to couple the first link 5 and the second link 9 so that when the second virtual center line 7 rotates relative to the first virtual center line 3 from a state where the first virtual center line 3 entirely overlaps with the second virtual center line 7, while crossing the first virtual center line 3, an intersection between the first virtual center line 3 and the second virtual center line 7 is displaced on the first virtual center line 3 by a predetermined distance corresponding to an angle of the rotation.

Abstract: The present invention provides an actuator using a fluid cylinder capable of imparting stiffness to a fluid cylinder such as an air cylinder with a simple constitution, a control method thereof and a choke valve device. The actuator is provided with a fluid cylinder 1, a first choke valve device 3 and a second choke valve device 5. The fluid cylinder 1 has a cylinder chamber 7 and a piston 12 dispose slidably in the cylinder chamber 7 so as to partition the cylinder chamber 7 into a first chamber 9 and a second chamber 11. The first choke valve device 3 is disposed between a fluid pressure source and the first chamber 9; and the second choke valve device 5 is disposed between the fluid pressure source and the second chamber 11. Each of the choke valve devices 3 and 5 is provided with a discharge valve mechanism capable of changing the opening of the valve.

Abstract: A data collecting system includes a data collecting device and plural data processing devices connected to the data collecting device by a cascade connection. For example, each of the data processing devices individually executes an A/D conversion and other data process, and adds data obtained by the data process to a data transmitting signal to transmit it to the subsequent cascade-connection data processing device in sequence. The data processing device at the head of the cascade connection generates the data transmitting signal including a data processing period and a communication period, and transmits it to the subsequent data processing device. Each of the data processing devices executes the data process in the data processing period, and transmits data obtained by the data process to the subsequent data processing device in the communication period on the basis of the data transmitting signal.

Abstract: A robot-phone enabling human communication by synchronizing shapes, motions, and positions of a plurality of robots located at a distance from one another. The robot-phone is used as a user interface and includes a robot of a stuffed doll having a movable potion at a part of the body, a microphone (11) for communication, a speaker (12), a driving portion (13) for driving the movable portion, a position information sensor (14) for acquiring position information of the movable portion, and a communication connecting portion (16).

Abstract: An unsaturated polyester (i) having a weight-average molecular weight (Mw) of 1,000-100,000 and at least two carbon-carbon unsaturated bonds in the molecule thereof obtained by esterifying an unsaturated carboxylic acid (b) with a polyester-polyol (a) obtained by subjecting a polybasic carboxylic acid containing polymerized fatty acid and/or polymerize fatty acid ester to polycondensation with a polyhydric alcohol; and an unsaturated (poly)urethane having Mw of 1,000-100,000 and at least two carbon-carbon unsaturated bonds in molecule obtained by reacting said polyester-polyol (a), polyisocyanate (d) and compound (e) having active hydrogen and polymerizable carbon-carbon unsaturated bond. Said unsaturated polyester and unsaturated (poly)urethane exhibit excellent adhesive property, heat resistance, water resistance and flexibility after being cured.

Abstract: A composition for a gasket which comprises (A) 100 parts by weight of a urethane acrylate oligomer having a weight-average molecular weight of 7,000 to 40,000, (B) 40 to 260 parts by weight of a polyether monoacrylate substituted at the end and/or a polyether polyester monoacrylate substituted at the end, and (C) 0.5 to 5 parts by weight of a photopolymerization initiator and has a viscosity of 4,000 to 100,000 centipoises at 25.degree. C.; and a process for producing a gasket by discharging the above composition on a substrate by using an X-Y-Z-driving automatic coating robot and curing the discharged composition by irradiation of ultraviolet light.A gasket can be formed to an accurate shape. Operations of forming and attaching the gasket can easily be conducted, and loss of the used material can be reduced. The gasket has a large tearing strength and a small compression set and is excellent in the flexibility and the sealing property.

Abstract: A block copolymer composition comprising(A) a tri-branched block copolymer (I) having a molecular weight of 150,000 to 450,000 represented by the general formula(A-B).sub.3 Xwherein A represents a polymer block of an aromatic vinyl monomer, B represents a polymer block of a conjugated diene monomer, and X represents a residue of a tri-functional or tetra-functional alkoxysilane coupling agent, and the weight ratio of the polymer block A to the polymer block B is from 10/90 to 30/70,(B) a di-branched block copolymer (II) having a molecular weight of 100,000 to 300,000 represented by the general formula(C-D).sub.