1. A robot having a robot hand comprising:
a placing section which is formed by a bar in the form of a substantially quadrilateral frame with a first supporting member and where an object to be grasped is placed;
a supporting section which is formed by connecting one end of a second supporting member to a center of the first supporting member and retains the placing section;
a space adjusting section which moves the supporting section while retaining the second supporting member, and adjusts a space between plural units of the placing section; and
a holding section arranged within the frame formed by the first supporting member and the placing section.
2. The robot according to claim 1, wherein a part where the placing section contacts a bottom of the object to be grasped is a substantially linear bar.
3. The robot according to claim 1, wherein a cross-sectional shape of the placing section orthogonal to a longitudinal direction is substantially circular or substantially elliptical.
4. The robot according to claim 1, wherein a cross-sectional shape of the placing section orthogonal to a longitudinal direction is substantially quadrilateral.
5. The robot according to claim 1, wherein the holding section includes a central area including a center and a peripheral area situated on a periphery of the central area, and the central area has a smaller spring constant than a spring constant of the peripheral area.
6. The robot according to claim 1, wherein at least a part of a site contacting the object to be grasped, of the placing section and the holding section, is made of a metal.
7. The robot according to claim 1, wherein the placing section and the holding section are formed as an integrated unit.
8. The robot according to claim 1, wherein at least a part of the holding section is made of an elastic material.
9. The robot according to claim 1, wherein the holding section is attachable to and removable from the placing section.
10. The robot according to claim 1, wherein the holding section is attachable to and removable from the space adjusting section.
11. A robot hand comprising:
a placing section which is formed by a bar in the form of a substantially quadrilateral frame with a first supporting member and where an object to be grasped is placed;
a supporting section which is formed by connecting one end of a second supporting member to a center of the first supporting member and retains the placing section;
a space adjusting section which moves the supporting section while retaining the second supporting member, and adjusts a space between plural units of the placing section; and
a holding section arranged within the frame formed by the first supporting member and the placing section.
12. The robot hand according to claim 11, wherein apart where the placing section contacts a bottom of the object to be grasped is a substantially linear bar.
13. The robot hand according to claim 11, wherein a cross-sectional shape of the placing section orthogonal to a longitudinal direction is substantially circular or substantially elliptical.
14. The robot hand according to claim 11, wherein a cross-sectional shape of the placing section orthogonal to a longitudinal direction is substantially quadrilateral.
15. The robot hand according to claim 11, wherein the holding section is formed by a spiral bar and includes a central area including a center of the spiral and a peripheral area situated on a periphery of the central area, and the central area has a smaller spring constant than a spring constant of the peripheral area.
16. The robot hand according to claim 11, wherein at least a part of a site contacting the object to be grasped, of the placing section and the holding section, is made of a metal.
17. The robot hand according to claim 11, wherein the placing section and the holding section are formed as an integrated unit.
18. The robot hand according to claim 11, wherein at least a part of the holding section is made of an elastic material.
19. The robot hand according to claim 11, wherein the holding section is attachable to and removable from the placing section.
20. The robot hand according to claim 11, wherein the holding section is attachable to and removable from the space adjusting section.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A distortion amplifier for generating a selectively distorted RF signal, including an RF amplifier and a distortion circuit; the distortion circuit consists of:
a first signal path, for conducting both RF and DC bias current, including at least one nonlinear device;
a second signal path, for conducting both RF and DC bias current, coupled in parallel to said first signal path with respect to RF current, coupled in series to said first signal path with respect to DC bias current, and including at least one resistance means; and
a DC bias current input for providing said DC bias current to said first and second paths
wherein approximately one-third to one-half of the current output from the RF amplifier flows through said first path, and
wherein the nonlinear device in the first signal path is the sole nonlinear device affecting the level of distortion output by said distortion circuit.
2. The distortion amplifier of claim 1, wherein the amount of DC bias current which flows through said first path is approximately between two to three times the amount of said RF current.
3. The distortion amplifier of claim 1, wherein said nonlinear device is coupled directly to ground.
4. The distortion amplifier of claim 1, wherein said diode is coupled directly to ground.
5. The distortion amplifier of claim 1, wherein said first signal path includes a first diode and a second diode coupled in series.
6. The distortion amplifier of claim 1, wherein said first signal path includes a first diode and a second diode coupled in parallel, and said second signal path includes a resistor and an inductor coupled in series.
7. The distortion amplifier of claim 1, further comprising a balun transformer coupled to said RF amplifier,
wherein a common connection point coupling said first signal path and said second signal path is coupled directly to a first leg of said balun transformer.
8. The distortion amplifier of claim 1, wherein said DC bias current input is at ground potential.
9. A distortion control circuit coupled between an RF amplifier and a laser transmitter for selective modulation of the RF signal output from the RF amplifier, said distortion control circuit consists of:
a first signal path comprising a non-linear circuit having at least one diode;
a second signal path comprising a DC bias current input coupled with a capacitor;
wherein said first and second signal paths are coupled in parallel between said RF amplifier and ground,
wherein the RF current from the RF signal flows through both said first signal path and said second signal path, and wherein between approximately one-third to one-half of the RF current flows through said first signal path, and
wherein the nonlinear circuit in the first signal path is the sole nonlinear circuit affecting the level of distortion output by said distortion control circuit.
10. The distortion control circuit of claim 9, wherein the DC bias current through said first signal path is approximately between two to three times said RF current through said first signal path.
11. The distortion control circuit of claim 9, wherein said first signal path includes a first diode and a second diode coupled in series.
12. The distortion control circuit of claim 9, wherein said first signal path includes a first diode and a second diode coupled in parallel, and said second signal path includes a resistor and an inductor coupled in series.
13. The distortion control circuit of claim 9, further comprising a balun transformer coupled to said RF amplifier,
wherein a common connection point coupling said first signal path and said second signal path is coupled directly to a first leg of said balun transformer.
14. The distortion control circuit of claim 9, wherein said DC bias current input is at ground potential.