Abstract: To provide a method of designing a blade of an axial flow fluid machine that has a blade surface whose radius of curvature is continuous at a leading edge thereof and has a high aerodynamic performance. The method includes a step of determining a pressure surface curve and a suction surface curve as curves capable of first to third order differentiations at respective connection points to a leading edge curve, that is, a pressure surface connection point and a suction surface connection point, and a step of forming the leading edge curve as a fifth order Bezier curve that is defined by a first control point, a second control point, a third control point, a fourth control point, a fifth control point and a sixth control point. The first control point is the suction surface connection point. The sixth control point is the pressure surface connection point.

Abstract: To provide a stator vane of a fan or compressor that is reduced in loss by enlarging a laminar flow area over a blade surface. With the stator vane, provided that an angle formed by a tangent to the blade surface at a point and the axial direction of the turbofan engine, that is, a parameter that is a blade surface angle normalized is referred to as a normalized blade surface angle, an upper limit is set for the change rate in the chord direction of the normalized blade surface angle on the pressure surface, and an upper limit is set for the normalized blade surface angle at a predetermined location in the chord direction on the suction surface.

Abstract: A blade of a fan or compressor that reduces loss by enlarging a laminar flow region over a blade surface is provided. The blade is divided into a subsonic region where the relative Mach number of the inlet air flow during rated operation of a turbofan engine is lower than 0.8 and a transonic region where the relative Mach number is equal to or higher than 0.8. A blade surface angle change rate is based on an angle formed by a tangent to the blade surface and the axis of the engine, the leading edge blade surface angle, and the trailing edge blade surface angle at. In each of the subsonic region and the transonic region, values of the blade surface angle change rate on the pressure and suction surfaces are defined at predetermined axial locations along the chord on the pressure and suction surfaces.

Abstract: A control apparatus that controls a first robot arm provided with a first force detection part and a second robot arm provided with a second force detection part, includes a processor that configured to move the first robot arm until a target force is detected by the first force detection part and performs impedance control on the second robot arm based on output of the second force detection part in at least a part of a movement period in which the first robot arm is moved.

Abstract: To provide a stator vane of a fan or compressor that is reduced in loss by enlarging a laminar flow area over a blade surface. With the stator vane, provided that an angle formed by a tangent to the blade surface at a point and the axial direction of the turbofan engine, that is, a parameter that is a blade surface angle normalized is referred to as a normalized blade surface angle, an upper limit is set for the change rate in the chord direction of the normalized blade surface angle on the pressure surface, and an upper limit is set for the normalized blade surface angle at a predetermined location in the chord direction on the suction surface.

Abstract: To provide a method of designing a blade of an axial flow fluid machine that has a blade surface whose radius of curvature is continuous at a leading edge thereof and has a high aerodynamic performance. The method includes a step of determining a pressure surface curve and a suction surface curve as curves capable of first to third order differentiations at respective connection points to a leading edge curve, that is, a pressure surface connection point and a suction surface connection point, and a step of forming the leading edge curve as a fifth order Bezier curve that is defined by a first control point, a second control point, a third control point, a fourth control point, a fifth control point and a sixth control point. The first control point is the suction surface connection point. The sixth control point is the pressure surface connection point.

Abstract: To provide a blade of a fan or compressor that is reduced in loss by enlarging a laminar flow region over a blade surface. A blade according to the present disclosure is divided into a subsonic region where the relative Mach number of the inlet air flow during rated operation of a turbofan engine is lower than 0.8 and a transonic region where the relative Mach number is equal to or higher than 0.8.

Abstract: A robot hand jig includes a grip including a first depression configured to engage with a first finger and a second depression configured to engage with a second finger. The first depression includes a first surface, a second surface perpendicular to the first surface, a third surface perpendicular to the second surface, and a fourth surface perpendicular to the first surface and the second surface. The second depression includes a fifth surface, a sixth surface perpendicular to the fifth surface, a seventh surface perpendicular to the sixth surface, and an eighth surface perpendicular to the fifth surface and the sixth surface.

Abstract: A robot includes a first arm and a second arm. The robot molds a box body including a first plate body, a second plate body, a third plate body, and a fourth plate body, the first plate body and the second plate body being coupled in a first part, the second plate body and the third plate body being coupled in a second part, the third plate body and the fourth plate body being coupled in a third part, and the fourth plate body and the first plate body being coupled in a fourth part.

Abstract: A robot hand jig includes a grip including a first depression configured to engage with a first finger and a second depression configured to engage with a second finger. The first depression includes a first surface, a second surface perpendicular to the first surface, a third surface perpendicular to the second surface, and a fourth surface perpendicular to the first surface and the second surface. The second depression includes a fifth surface, a sixth surface perpendicular to the fifth surface, a seventh surface perpendicular to the sixth surface, and an eighth surface perpendicular to the fifth surface and the sixth surface.

Abstract: An end effector is an end effector to be grasped by a robot including a hand having a plurality of first movable parts and a second movable part using the hand, including an operation unit operated by movements of the second movable part in first directions, and an actuation unit actuated by an operation of the operation unit, wherein concave portions into which the first movable parts are inserted are formed.

Abstract: A control apparatus that controls a first robot arm provided with a first force detection part and a second robot arm provided with a second force detection part, includes a processor that configured to move the first robot arm until a target force is detected by the first force detection part and performs impedance control on the second robot arm based on output of the second force detection part in at least a part of a movement period in which the first robot arm is moved.

Abstract: A control device for controlling driving of a robot having a force detection unit includes a processor which, when causing the robot to carry out work a plurality of times, performs force control on the robot based on an output from the force detection unit and teaches the robot a first position, in a first round of the work, and which, in a second round of the work, performs position control on the robot based on first position data about the first position acquired in the first round of the work and causes a predetermined site of the robot to move to the first position.

Abstract: An end effector is an end effector to be grasped by a robot including a hand having a plurality of first movable parts and a second movable part using the hand, including an operation unit operated by movements of the second movable part in first directions, and an actuation unit actuated by an operation of the operation unit, wherein concave portions into which the first movable parts are inserted are formed.

Abstract: A robot includes a first arm and a second arm. The robot molds a box body including a first plate body, a second plate body, a third plate body, and a fourth plate body, the first plate body and the second plate body being coupled in a first part, the second plate body and the third plate body being coupled in a second part, the third plate body and the fourth plate body being coupled in a third part, and the fourth plate body and the first plate body being coupled in a fourth part.