Abstract: A robot controlling part (41) of a substrate transferring robot performs an operation regulating control when a substrate is placed on a substrate placing part (12a). The operation regulating control is a control in which a hand (12) is moved in accordance with an operation plan that regulates the movement of the hand in a regulation target section (A) where the hand is moved to have a vertical acceleration component exceeding a given first threshold (L1), the movement of the hand including at least one of a horizontal velocity component exceeding a given second threshold (L2) and an acceleration component exceeding a given third threshold.

Abstract: A method of teaching a robot, the robot including a first and second end effector that are mounted to a robotic arm wrist, the first and second end effector being rotatable about a same rotational axis independently of each other. The method includes: a first step of, in a state where rotational positions of the first and second end effectors about the rotational axis coincide with each other, attaching a relative motion preventing device to the first and second end effector, the relative motion preventing device preventing the first and second end effector from moving relative to each other; and a fourth step of generating a teaching point of the second end effector based on: a teaching point of the first end effector; and rotational position information about the first and second end effector that are stored in a storage unit in association with each other in a third step.

Abstract: A horizontal articulated robot is provided, which includes a first connecting part disposed between two of the arms and rotatably connecting the other arm to one arm, a second connecting part disposed between a pedestal and the arm and rotatably connecting the arm to the pedestal, and a ring member disposed between the first connecting part and the arm and formed so that, as compared with one of end part sides in an extending direction of the arms, a height dimension thereof becomes larger at the other end part side.

Abstract: A horizontal articulated robot is provided, which includes a first connecting part disposed between two of the arms and rotatably connecting the other arm to one arm, a second connecting part disposed between a pedestal and the arm and rotatably connecting the arm to the pedestal, and a ring member disposed between the first connecting part and the arm and formed so that, as compared with one of end part sides in an extending direction of the arms, a height dimension thereof becomes larger at the other end part side.

Abstract: A method of teaching a robot, the robot including a first and second end effector that are mounted to a robotic arm wrist, the first and second end effector being rotatable about a same rotational axis independently of each other. The method includes: a first step of, in a state where rotational positions of the first and second end effectors about the rotational axis coincide with each other, attaching a relative motion preventing device to the first and second end effector, the relative motion preventing device preventing the first and second end effector from moving relative to each other; and a fourth step of generating a teaching point of the second end effector based on: a teaching point of the first end effector; and rotational position information about the first and second end effector that are stored in a storage unit in association with each other in a third step.

Abstract: In a tire for a levitation-type vehicle for supporting a load which varies depending upon a change in speed of the levitation-type vehicle at landing and during subsequent traveling thereof, a configuration of a crown and rigidity of the crown are set so as to have a ground-contact configuration in which, when a load of the levitation-type vehicle is equal to or less than 45% at its full load, a ratio of a ground-contact length of a pair of shoulders in a circumferential direction of the tire with respect to a ground-contact length, in the circumferential direction of the tire, of a central portion of the crown in the widthwise direction is 0.6.about.1.5. Accordingly, the tire for the levitation-type vehicle has a wide ground-contact area at an initial stage of landing and traveling.

Abstract: A pneumatic tire comprising a tread divided into at least three ribs by at least two main wide grooves extending substantially in a circumferential direction of the tire, wherein a shoulder rib arranged at an outermost end portion of the tread is divided in an axial direction parallel to an axis of rotation of the tire into at least two shoulder rib portions; and between two adjacent shoulder rib portions of said at least two shoulder rib portions, an outer surface of an outer shoulder rib portion is radially inwardly disposed with respect to an extension line of an outer surface of an inner shoulder rib portion arranged inwardly of the outer rib portion. A plurality of sipes may be formed in the vicinity of an outer end of at least one shoulder rib portion other than an outermost shoulder rib portion. Further, a plurality of sipes are formed in the vicinities of outer ends of at least two rib portions other than an outermost rib portion, the quantity of siping being gradually reduced in the axial direction.

Abstract: A pneumatic tire comprising a tread divided into at least three ribs by at least two main wide grooves substantially extending in a circumferential direction of the tire, wherein a shoulder rib of the ribs arranged at an outermost end portion of the tread is divided in an axial direction parallel to an axis of rotation of the tire into at least two rib portions; and between two adjacent rib portions of the rib portions, an inner end of an outer surface of an outer rib portion is connected through an outer surface of a circumferentially extending sloped portion to an outer end of an outer surface of an inner rib portion so that the outer end of the outer surface of the outer rib portion is lower than the inner end of the outer surface of the inner rib portion.