Abstract: A degradation estimation device includes: a first calculator that calculates a voltage change amount from a first voltage value and a second voltage value measured when the storage battery is charged and discharged; a second calculator that calculates an electric charge change amount from a first current value and a second current value when the storage battery is charged and discharged; a data storage that stores measured data that includes the voltage change amount and the electric charge change amount; a model storage that stores an estimation model that uses one or more electric charge change amounts as inputs and outputs the degradation state of the storage battery; and an estimator that estimates the degradation state of the storage battery by using the estimation model and using, as inputs, the one or more voltage change amounts and the one or more electric charge change amounts.

Abstract: A robot having an arm and an adapted actuating mechanism of a parallelogram construction, formed of vertical arms having the forward and rearward movement regulated within a fixed range, parallel rods having the up and down movement regulated within a fixed range, upper links and a forward horizontally extending horizontal arm is supported by side plates. At least the above mentioned vertical arms are provided with an X-axis driving device and the parallel rods are provided with a Z-axis driving device and means to balance the load of the work and arm mechanism.

Abstract: A parallelogram arm assembly having a vertical arm for suspending a load at lower end thereof and a pair of horizontal arms one of which is guided in a horizontal path is provided. The other horizontal arm is guided in a vertical path. The paths are defined in a supporting structure which is mounted rotatably on a standard or the like. Apparatus, such as a piston/cylinder actuator is provided for maintaining in cooperation with the parallelogram a floating balanced state of the arm assembly independently of the loaded or no-load state.