Patent Publication Number: US-2012025054-A1

Title: Holding apparatus, conveying apparatus, and rotation-transmitting apparatus

Description:
TECHNICAL FIELD 
     The present invention relates to a holding apparatus that holds an object in an inclinable manner, a conveying apparatus, and a rotation-transmitting apparatus. 
     BACKGROUND ART 
     As one type of conveying apparatus that conveys semiconductor substrates for LSI (Large Scale Integration), glass substrates for display, and the like (hereinafter, referred to as substrate), there is a conveying apparatus that holds a substrate using a hand attached at a tip end of a robot arm. Such a conveying apparatus requires a substrate to be surely held and also requires high positioning accuracy, and there are various types of holding mechanisms for holding a substrate on a hand. 
     Patent Document 1 discloses a substrate conveying hand in which a metal film having a small radiation factor on a surface on which a substrate is mounted is formed. The substrate conveying hand suppresses, as well as suppress a temperature rise at a time a hand enters a heating chamber, a deposition chamber, and the like, a heat transfer to the substrate mounted on the hand. As a result, it becomes possible to prevent warpage of the substrate from occurring due to a thermal deformation and stably and favorably convey the substrate. 
     Patent Document 1: Japanese Patent Application Laid-open No. 2006-237256 (paragraph [0024], FIG. 2) 
     DISCLOSURE OF THE INVENTION 
     Problems to be Solved by the Invention 
     However, while the substrate conveying hand disclosed in Patent Document 1 is capable of stably conveying an undeformed substrate by preventing a thermal deformation of the substrate, a stable conveyance of a deformed substrate is not mentioned. Although the substrate is held by being mounted on a substrate mounting portion of the planar hand, when the substrate is deformed, a substrate holding property is prominently impaired due to a reduction of a contact area between the substrate and the substrate mounting portion. 
     In view of the circumstances as described above, it is an object of the present invention to provide a holding apparatus, a conveying apparatus, and a rotation-transmitting apparatus that are capable of stably holding an object while suppressing an influence of a change in shape of the object. 
     Means for Solving the Problems 
     According to an embodiment of the present invention, there is provided a holding apparatus including a base portion, a holding portion, and a supporting portion. 
     The holding portion includes a first surface that holds a holding object and a second surface opposing the base portion. 
     The supporting portion is provided between the base portion and the second surface and supports the holding portion in a state where the holding portion is tiltable with respect to the base portion. 
     According to an embodiment of the present invention, there is provided a conveying apparatus that conveys a conveying object and includes a hand, a holding portion, and a supporting portion. 
     The hand includes a mounting surface on which the conveying object is mounted. 
     The holding portion includes a first surface that holds the conveying object and a second surface opposing the mounting surface. 
     The supporting portion is provided between the mounting surface and the second surface and supports the holding portion in a state where the holding portion is tiltable with respect to the mounting surface. 
     According to an embodiment of the present invention, there is provided a rotation-transmitting apparatus including a first spinning disk, a transmitting portion, a concave portion, a supporting portion, an engaging portion, and a second spinning disk. 
     The transmitting portion includes a first surface and a second surface opposing the first spinning disk. 
     The concave portion is formed on either one of the first spinning disk and the second surface. 
     The supporting portion is constituted of an inelastic body, is provided between the first spinning disk and the second surface, and supports the transmitting portion in a state where the transmitting portion is tiltable with respect to the first spinning disk by engaging with the concave portion. 
     The engaging portion is provided on a circumference of the supporting portion and engages the first spinning disk and the transmitting portion in a rotating direction. 
     The second spinning disk comes into contact with the first surface. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
       [ FIG. 1 ] A perspective view showing a conveying apparatus according to a first embodiment. 
       [ FIG. 2 ] A perspective view showing a hand of the conveying apparatus according to the first embodiment. 
       [ FIG. 3 ] A cross-sectional diagram showing a holding mechanism of the conveying apparatus according to the first embodiment. 
       [ FIG. 4 ] Schematic diagrams showing an adhesive layer of the conveying apparatus according to the first embodiment. 
       [ FIG. 5 ] Schematic diagrams showing states where the holding mechanisms of the conveying apparatus according to the first embodiment are holding a substrate. 
       [ FIG. 6 ] A cross-sectional diagram showing a holding mechanism according to a second embodiment. 
       [ FIG. 7 ] A cross-sectional diagram showing a holding mechanism according to a third embodiment. 
       [ FIG. 8 ] A cross-sectional diagram showing a holding mechanism according to a fourth embodiment. 
       [ FIG. 9 ] A cross-sectional diagram showing a holding mechanism according to a fifth embodiment. 
       [ FIG. 10 ] A cross-sectional diagram showing a holding mechanism according to a sixth embodiment. 
       [ FIG. 11 ] A cross-sectional diagram showing a holding mechanism according to a seventh embodiment. 
       [ FIG. 12 ] A cross-sectional diagram showing a holding mechanism according to an eighth embodiment. 
       [ FIG. 13 ] A cross-sectional diagram showing a holding mechanism according to a ninth embodiment. 
       [ FIG. 14 ] A cross-sectional diagram showing a holding mechanism according to a tenth embodiment. 
       [ FIG. 15 ] Cross-sectional diagrams each showing a rotation-transmitting apparatus according to an eleventh embodiment. 
     
    
    
     BEST MODES FOR CARRYING OUT THE INVENTION 
     According to an embodiment of the present invention, there is provided a holding apparatus including a base portion, a holding portion, and a supporting portion. 
     The holding portion includes a first surface that holds a holding object and a second surface opposing the base portion. 
     The supporting portion is provided between the base portion and the second surface and supports the holding portion in a state where the holding portion is tiltable with respect to the base portion. 
     The holding apparatus holds the holding object using the first surface of the holding portion. Since the holding portion is supported by the supporting portion such that it is tiltable with respect to the substrate, the holding portion easily follows the deformation of the substrate. Therefore, according to the holding apparatus, it is possible to stably hold the substrate irrespective of the shape of the holding object. 
     In the holding apparatus, either one of the base portion and the second surface may include a concave portion formed thereon, and the supporting portion may be constituted of an inelastic body and engage with the concave portion. 
     With this structure, by engaging with the concave portion, the supporting portion can hold the holding portion in a state where it is tiltable with respect to the substrate. Further, since the supporting portion is constituted of an inelastic body, it is possible to stably hold the substrate without the holding portion vibrating with respect to the base portion due to an inertial force generated by the movement of the base portion. 
     The supporting body may be constituted of an elastic body. 
     With this structure, by an elastic deformation, the supporting portion can hold the holding portion such that it is tiltable with respect to the substrate. 
     The concave portion may be formed on the second surface, and the supporting portion may be a convex portion that is fixed to the base portion, protrudes toward the holding portion, and comes into contact with a bottom portion of the concave portion. 
     With this structure, by bringing the tip end of the convex portion into contact with the bottom portion of the concave portion, the supporting portion can support the holding portion in a state where it is tiltable with respect to the substrate. 
     The concave portion may be formed on the base portion, and the supporting portion may be a convex portion that is fixed to the second surface, protrudes toward the base portion, and comes into contact with a bottom portion of the concave portion. 
     With this structure, by bringing the tip end of the convex portion into contact with the bottom portion of the concave portion, the supporting portion can support the holding portion in a state where it is tiltable with respect to the substrate. 
     The concave portion may be formed on the second surface, and the supporting portion may be a convex portion that is fixed to the base portion, protrudes toward the holding portion, and comes into contact with a circumference of the concave portion. 
     With this structure, by the convex portion coming into line contact with the circumference of the concave portion and sliding, the supporting portion can support the holding portion in a state where it is tiltable with respect to the substrate. 
     The concave portion may be formed on the base portion, and the supporting portion may be a convex portion that is fixed to the second surface, protrudes toward the base portion, and comes into contact with a circumference of the concave portion. 
     With this structure, by the convex portion coming into line contact with the circumference of the concave portion and sliding, the supporting portion can support the holding portion in a state where it is tiltable with respect to the substrate. 
     The concave portion may be formed in a cylindrical shape on the base portion, and the supporting portion may be a conic convex portion that is fixed to the second surface, protrudes toward the base portion, and includes a bottom surface having a shape corresponding to that of a bottom surface of the concave portion. 
     With this structure, by the bottom surface of the convex portion tilting with respect to the bottom surface of the concave portion, the supporting portion can support the holding portion in a state where it is tiltable with respect to the substrate. Moreover, since the shape of the bottom surface of the convex portion corresponds to that of the bottom surface of the concave portion, a positional deviation of the supporting portion with respect to the base portion can be prevented from occurring. 
     The holding apparatus may further include a restricting portion that is provided between the base portion and the holding portion and prevents a positional deviation of the holding portion from occurring with respect to the base portion. 
     With this structure, the position of the holding portion with respect to the base portion can be maintained. 
     The first surface may be formed of a friction material. 
     With this structure, the holding object can be held by a frictional force of the friction material. 
     The friction material may be constituted of an electric adhesive element whose adhesive force can be controlled electrically. 
     With this structure, by enhancing the adhesive force when holding the holding object and lowering the adhesive force when releasing the holding object, a predetermined chuck function and an adequate de-chuck function with respect to the holding object can be obtained. 
     The electric adhesive element may include an insulating adhesive medium, an electric adhesive material constituted of dielectric micro-particles or semiconductor micro-particles dispersed in the adhesive medium, and an electrode that applies a voltage to the electric adhesive material. 
     With this structure, by controlling the voltage to be applied to the electrode, it is possible to cause the dielectric micro-particles or semiconductor micro-particles to move in the adhesive medium to thus change the adhesiveness of the electric adhesive material. 
     According to an embodiment of the present invention, there is provided a conveying apparatus conveying a conveying object, including a hand, a holding portion, and a supporting portion. 
     The hand includes a mounting surface on which the conveying object is mounted. 
     The holding portion includes a first surface that holds the conveying object and a second surface opposing the mounting surface. 
     The supporting portion is provided between the mounting surface and the second surface and supports the holding portion in a state where the holding portion is tiltable with respect to the mounting surface. 
     The conveying apparatus holds and conveys the holding object using the first surface of the holding portion. Since the holding portion is supported by the supporting portion such that it is tiltable with respect to the mounting surface, the holding portion easily follows the deformation of the substrate. Therefore, according to the conveying apparatus, it is possible to stably hold and convey the substrate irrespective of the shape of the conveying object. 
     According to an embodiment of the present invention, there is provided a rotation-transmitting apparatus including a first spinning disk, a transmitting portion, a concave portion, a supporting portion, an engaging portion, and a second spinning disk. 
     The transmitting portion includes a first surface and a second surface opposing the first spinning disk. 
     The concave portion is formed on either one of the first spinning disk and the second surface. 
     The supporting portion is constituted of an inelastic body, is provided between the first spinning disk and the second surface, and supports the transmitting portion in a state where the transmitting portion is tiltable with respect to the first spinning disk by engaging with the concave portion. 
     The engaging portion is provided on a circumference of the supporting portion and engages the first spinning disk and the transmitting portion in a rotating direction. 
     The second spinning disk comes into contact with the first surface. 
     With this structure, when transmitting the rotation of the first spinning disk to the second spinning disk or the rotation of the second spinning disk to the first spinning disk, the rotations can be stably transmitted even when rotational axes of the spinning disks tilt. 
     The first surface may be formed of a friction material. 
     With this structure, the rotation can be transmitted to the second spinning disk by the frictional force of the friction material. 
     The friction material may be constituted of an electric adhesive element whose adhesive force can be controlled electrically. 
     With this structure, a rotation transmitting force between the transmitting portion and the second spinning disk can be changed to a desired level. 
     Hereinafter, embodiments of the present invention will be described with reference to the drawings. 
     First Embodiment 
     A conveying apparatus  1  according to a first embodiment will be described. 
       FIG. 1  is a perspective view showing the conveying apparatus  1 . The conveying apparatus  1  of this embodiment is structured as a substrate conveying apparatus that conveys a substrate in vacuum or in the atmosphere. 
     As shown in the figure, the conveying apparatus  1  includes a driving portion  2 , an arm  3 , and a hand  4 . The driving portion  2  is coupled to one end of the arm  3 , and the hand  4  is coupled to the other end of the arm  3 . Further, on the hand  4 , a substrate W as a conveying object is mounted. 
     The driving portion  2  drives the arm  3 . The driving portion  2  has a power source such as an electric motor and a power-transmitting mechanism incorporated therein so as to be capable of driving the arm  3 . The structure of the driving portion  2  is not limited to that described above. 
     The arm  3  supports the hand  4 . The arm  3  is structured to be capable of turning, expanding etc. by power transmitted from the driving portion  2  and moving the hand  4 . The arm  3  has a multi-joint structure, but the structure is not limited thereto. 
     The hand  4  includes a supporting surface  4   a  (mounting surface) on which a holding mechanism  5  that holds the substrate W is provided. A holding force of the hand  4  with respect to the substrate W is variable. The hand  4  holds the substrate W with a predetermined holding force when receiving the substrate W from a substrate processing unit (not shown) and conveying it and releases the holding force when handing the substrate over to the substrate processing unit (not shown). 
     The structure of the hand  4  will be described in detail. 
       FIG. 2  is a perspective view showing the hand  4 . 
     As shown in the figure, the hand  4  is formed of a metal material such as stainless steel or a ceramic material such as alumina and formed as a U-shaped plate. However, the shape of the hand  4  is not limited thereto. The hand  4  is attached to the arm  3  such that its surface becomes horizontal. 
     On the supporting surface  4   a  of the hand  4 , three holding mechanisms  5  are provided. The number and arrangement of the holding mechanisms  5  can be changed as appropriate based on a size, shape, and the like of the conveying object. 
     The structure of the holding mechanisms  5  will be described in detail. 
       FIG. 3  is a cross-sectional diagram showing the holding mechanism  5 . 
     As shown in the figure, the holding mechanisms  5  each include a pad  6  (holding portion) and a supporting member  7  (supporting portion). The pad  6  is supported by the supporting member  7  on the hand  4  (base portion). 
     The pad  6  is formed by laminating a substrate layer  8 , an electrode layer  9 , and an adhesive layer  10  (friction material). The pad  6  is formed in a disk shape, though not limited thereto. The substrate layer  8  is formed of an insulation material such as ceramic but may instead be formed of other inorganic or organic insulation materials. The substrate layer  8  includes a concave portion  8   a  that is formed at the center of the surface opposing the hand  4 . The concave portion  8   a  has a shape that narrows from the opening portion to the back portion. 
     The electrode layer  9  is laminated on the surface of the substrate layer  8  on the other side of the surface that opposes the hand  4 . The electrode layer  9  is formed to be capable of applying an electric field to the adhesive layer  10  and includes, for example, a pectinated electrode. The electrode layer  9  is connected to a wiring (not shown) connected to an external power source. The adhesive layer  10  is laminated on the electrode layer  9 . 
       FIGS. 4(A) and 4(B)  are schematic diagrams showing the adhesive layer  10 . 
     As shown in the figures, the adhesive layer  10  is constituted of an adhesive medium  11  and electric rheology particles  12  dispersed in the adhesive medium  11 . 
     The adhesive medium  11  is a gel-type insulation material such as a fluorine-based resin and a silicone resin and has an adhesive force. 
     The “electric rheology particles  12 ” is a collective term for a particle-type dielectric material, a particle-type semiconductor material, or a particle material as a complex of those two. 
     The adhesive medium  11  and the electric rheology particles  12  are combined so as to exert an electric adhesion effect. 
     The electric adhesion effect of the adhesive layer  10  will be described in detail. 
       FIG. 4(A)  shows the adhesive layer  10  in a state where no voltage is applied, and  FIG. 4(B)  shows the adhesive layer  10  in a state where a voltage is applied. 
     In the state where no voltage is applied as shown in  FIG. 4(A) , the electric rheology particles  12  are dispersed in the adhesive layer  10  for separating from one another by viscoelasticity and are protruding from the front surface of the adhesive layer  10 . Accordingly, the substrate W is prevented from directly coming into contact with the adhesive medium  11 , and an adhesive force between the substrate W and the adhesive layer  10  becomes small (or is lost). When a voltage is applied to the electrode layer  9 , the state shifts to the state where a voltage is applied as shown in  FIG. 4(B) . 
     In the state where a voltage is applied as shown in  FIG. 4(B) , the electric rheology particles  12  cause dielectric polarization by the voltage applied to the electrode layer  9  and aggregate on a line of electric force, which are exaggerated in the figure to help understand the description. The electric rheology particles  12  protruding from the front surface of the adhesive layer  10  sink in the adhesive medium  11 . As a result, the substrate W and the adhesive medium  11  are brought into direct contact with each other, and the adhesive force between the substrate W and the adhesive layer  10  becomes large. The level of aggregation of the electric rheology particles depends on the level of voltage applied to the electrode layer  9 . Therefore, it is possible to control the adhesive force based on the voltage level. 
     As described above, the adhesive force between the substrate W and the adhesive layer  10  can be adjusted based on whether a voltage is applied to the electrode layer  9 . 
     The supporting member  7  is an inelastic body and formed of a metal material such as stainless steel. The supporting member  7  is formed in a columnar shape that has two ends. One end is fixed to the hand  4 , and the other end (apex) is in point contact with the bottom portion of the concave portion  8   a  of the substrate layer  8 . The supporting member  7  supports the pad  6  by the point contact. The end portion of the supporting member  7  on a side that is in contact with the concave portion  8   a  is formed in, for example, a conic shape that is sharper than the narrowing angle of the concave portion  8   a,  and the tip end of the end portion is in point contact with the concave portion  8   a , with the result that a gap is caused between other portions and the concave portion  8   a.  Therefore, the substrate layer  8  (pad  6 ) is capable of tilting in all directions about the contact point. It should be noted that the point contact used herein means that the contact area is too small to prevent the pad  6  from tilting (practically a point) and does not strictly mean a point. 
     A tiltable angle of the pad  6  with respect to the surface of the hand  4  is a smaller one of the angle at which the concave portion  8   a  and the supporting member  7  come into contact with each other and the angle at which the pad  6  and the hand  4  come into contact with each other. 
     Since the concave portion  8   a  narrows toward the back portion from the opening thereof, the contact point of the supporting member  7  is constantly at the backmost portion of the concave portion, and a horizontal position of the pad  6  with respect to the hand  4  can be constantly maintained. Moreover, since the contact point (fulcrum) of the supporting member  7  is positioned above a barycenter of the pad  6  in the vertical direction, the pad  6  is maintained horizontally with respect to the surface of the hand  4  by a moment of a force even when the substrate W is not held. 
     Although the pad  6  is engaged with the supporting member  7  by being in contact therewith, since the substrate W is held by the adhesive layer  10  whose adhesive force can be arbitrarily caused to disappear, the pad  6  does not stick to the substrate W to be pulled out. A pull-out preventing mechanism for the pad  6  may be provided as necessary. 
     An operation of the thus-structured conveying apparatus  1  will be described. 
     The driving portion  2  drives the arm  3 , and the hand  4  obtains the substrate W. This is realized by the hand  4  scooping up the substrate W supported by a lifter pin, for example. When the hand obtains the substrate W or before the hand obtains the substrate W, a voltage is applied to the electrode layer  9  of the holding mechanisms  5 . As a result, the adhesive force of the adhesive layer  10  is kept high. 
     The substrate W is held by the holding mechanisms  5  of the hand  4 . 
       FIG. 5  are schematic diagrams showing states where the holding mechanisms  5  are holding the substrate W. 
     As shown in  FIG. 5(A) , when the substrate W is brought into contact with the pad  6 , the adhesive layer  10  of the pad  6  comes into contact with the substrate W to hold the substrate W. It should be noted that even when the pad  6  of the holding mechanisms  5  is tilted with respect to the hand  4  in a state where the substrate W is not held, by the surface of the substrate W coming into contact with the pad  6 , the pad  6  is corrected to be set in the horizontal direction. 
     As shown in  FIG. 5(B) , even when the substrate W is warped with respect to the surface of the hand  4 , since the pad  6  tilts with respect to the hand  4  in accordance with the surface of the substrate W, the entire surface of the adhesive layer  10  of the pad  6  comes into contact with the substrate W to thus hold the substrate W. 
     As the driving portion  2  is driven while the substrate W is held, the substrate W is moved. At a predetermined position, an application of a voltage to the electrode layer  9  is canceled. Accordingly, the adhesive force of the adhesive layer  10  becomes low, and the holding force of the substrate W is released, with the result that the substrate W can be demounted. It should be noted that during conveyance, some kind of processing (cooling etc.) may be carried out on the substrate W. 
     The substrate W is conveyed as described above. Even when a deformation such as a warpage is caused in the substrate W, by the pad  6  tilting in accordance with the surface of the substrate W, the entire surface of the adhesive layer  10  comes into contact with the substrate W so that the substrate W can be held stably. Further, since the supporting member  7  is constituted of an inelastic body, the supporting member  7  does not vibrate by an inertial force caused by the movement of the hand  4 , with the result that the substrate W can be held stably. 
     Second Embodiment 
     A conveying apparatus according to a second embodiment will be described. 
     In descriptions below, descriptions on parts having the same structures as those of the above embodiment will be simplified. 
       FIG. 6  is a cross-sectional diagram showing a holding mechanism  21  of the conveying apparatus. 
     As shown in the figure, the holding mechanism  21  includes a pad  22  (holding portion) and a supporting member  23  (supporting portion). The pad  22  is supported by the supporting member  23  on a hand  24  (base portion). 
     The pad  22  is formed by laminating a substrate layer  25 , an electrode layer  26 , and an adhesive layer  27  (friction material). The substrate layer  25 , the electrode layer  26 , and the adhesive layer  27  have the same structures as the substrate layer  8 , the electrode layer  9 , and the adhesive layer  10  of the first embodiment. 
     It should be noted that the substrate layer  25  of this embodiment includes a concave portion  25   a  that is formed at the center of the surface opposing the hand  24 . The concave portion  25   a  is formed in a hemispherical shape or a semielliptical shape. 
     The supporting member  23  is an inelastic body and formed of metal or the like. The supporting member  23  is formed in a hemispherical shape or a semielliptical shape. The flat surface of the supporting member  23  is fixed to the hand  24 , and the curved surface thereof is in contact with the concave portion  25   a.  Here, the supporting member  23  is formed in a hemispherical shape or a semielliptical shape having a smaller radius than the concave portion  25   a  or formed to have a larger curvature than the concave portion  25   a.  Accordingly, an apex of the curved surface of the supporting member  23  comes into point contact with the bottom portion of the concave portion  25   a,  with the result that a gap is caused between other portions and the concave portion  25   a.  Therefore, the pad  22  is capable of tilting in all directions about the contact point. 
     A tiltable angle of the pad  22  with respect to the hand  24  is a smaller one of the angle at which the concave portion  25   a  and the supporting member  23  come into contact with each other and the angle at which the pad  22  and the hand  24  come into contact with each other. 
     The substrate W is held and conveyed as described above. Even when a deformation such as a warpage is caused in the substrate W, by the pad  22  tilting in accordance with the surface of the substrate W, the entire surface of the adhesive layer  27  comes into contact with the substrate W so that the substrate W can be held stably. Further, since the supporting member  23  is constituted of an inelastic body, the supporting member  23  does not vibrate by an inertial force caused by the movement of the hand  24 , with the result that the substrate W can be held stably. 
     Third Embodiment 
     A conveying apparatus according to a third embodiment will be described. 
     In descriptions below, descriptions on parts having the same structures as those of the above embodiments will be simplified. 
       FIG. 7  is a cross-sectional diagram showing a holding mechanism  31  of the conveying apparatus. 
     As shown in  FIG. 7 , the holding mechanism  31  includes a pad  32  (holding portion) and a supporting member  33  (supporting portion). The pad  32  is supported by the supporting member  33  on a hand  34  (base portion). The hand  34  includes a concave portion  34   a  that is formed on the surface opposing the pad  32 . 
     The pad  32  is formed by laminating a substrate layer  35 , an electrode layer  36 , and an adhesive layer  37  (friction material). The substrate layer  35 , the electrode layer  36 , and the adhesive layer  37  have the same structures as the substrate layer  8 , the electrode layer  9 , and the adhesive layer  10  of the first embodiment. 
     It should be noted that the substrate layer  35  of this embodiment does not have a concave portion on the surface opposing the hand  34 . 
     The supporting member  33  is an inelastic body and formed of metal or the like. The supporting member  33  is formed in a columnar shape that has two ends. One end is fixed to the substrate layer  35 , and the other end (apex) is in point contact with the bottom portion of the concave portion  34   a.  The supporting member  33  is formed to be thinner than an opening diameter of the concave portion  34   a , and a viscoelastic body  38  is filled in the gap between the supporting member  33  and the concave portion  34   a.  The supporting member  33  fixed to the pad  32  is tiltable in all directions about the point contact with the hand  34  by viscoelasticity of the viscoelastic body  38 . By changing the filling amount and material of the viscoelastic body  38 , the tilting degree can be adjusted. 
     A tiltable angle of the pad  32  with respect to the hand  34  is the smallest one of the angle at which the concave portion  34   a  and the supporting member  33  come into contact with each other, the angle at which the pad  32  and the hand  34  come into contact with each other, and the allowable angle of the viscoelastic body  38 . 
     Since the supporting member  33  is sealed in the hand  34  by the viscoelastic body  38 , the horizontal position of the pad  32  with respect to the hand  34  can be constantly maintained. Moreover, the pad  32  (supporting member  33 ) is prevented from being released from the hand  34 . 
     The substrate W is held and conveyed as described above. Even when a deformation such as a warpage is caused in the substrate W, by the pad  32  tilting in accordance with the surface of the substrate W, the entire surface of the adhesive layer  37  comes into contact with the substrate W so that the substrate W can be held stably. Further, since the supporting member  33  is constituted of an inelastic body, the supporting member  33  does not vibrate by an inertial force caused by the movement of the hand  34 , with the result that the substrate W can be held stably. 
     Fourth Embodiment 
     A conveying apparatus according to a fourth embodiment will be described. 
     In descriptions below, descriptions on parts having the same structures as those of the above embodiments will be simplified. 
       FIG. 8  is a cross-sectional diagram showing a holding mechanism  41  of the conveying apparatus. 
     As shown in  FIG. 8 , the holding mechanism  41  includes a pad  42  (holding portion) and a supporting member  43  (supporting portion). The pad  42  is supported by the supporting member  43  on a hand  44  (base portion). The hand  44  includes a concave portion  44   a  that is formed on the surface opposing the pad  42 . The concave portion  44   a  is formed in a hemispherical shape or a semielliptical shape. 
     The pad  42  is formed by laminating a substrate layer  45 , an electrode layer  46 , and an adhesive layer  47  (friction material). The substrate layer  45 , the electrode layer  46 , and the adhesive layer  47  have the same structures as the substrate layer  8 , the electrode layer  9 , and the adhesive layer  10  of the first embodiment. 
     It should be noted that the substrate layer  45  of this embodiment does not have a concave portion on the surface opposing the hand  44 . 
     The supporting member  43  is an inelastic body and formed of metal or the like. The supporting member  43  is formed in a hemispherical shape or a semielliptical shape. The flat surface of the supporting member  43  is fixed to the substrate layer  45 , and the curved surface thereof is in contact with the concave portion  44   a.  Here, the supporting member  43  is formed in a hemispherical shape or a semielliptical shape having a smaller radius than the concave portion  44   a  or formed to have a larger curvature than the concave portion  44   a.  Accordingly, an apex of the curved surface of the supporting member  43  comes into point contact with the bottom portion of the concave portion  44   a , with the result that a gap is caused between other portions and the concave portion  44   a.    
     Therefore, the pad  42  is capable of tilting in all directions about the contact point. 
     A tiltable angle of the pad  42  with respect to the hand  44  is a smaller one of the angle at which the concave portion  44   a  and the supporting member  43  come into contact with each other and the angle at which the pad  42  and the hand  44  come into contact with each other. 
     The substrate W is held and conveyed as described above. Even when a deformation such as a warpage is caused in the substrate W, by the pad  42  tilting in accordance with the surface of the substrate W, the entire surface of the adhesive layer  47  comes into contact with the substrate W so that the substrate W can be held stably. Further, since the supporting member  43  is constituted of an inelastic body, the supporting member  43  does not vibrate by an inertial force caused by the movement of the hand  44 , with the result that the substrate W can be held stably. 
     Fifth Embodiment 
     A conveying apparatus according to a fifth embodiment will be described. 
     In descriptions below, descriptions on parts having the same structures as those of the above embodiments will be simplified. 
       FIG. 9  is a cross-sectional diagram showing a holding mechanism  51  of the conveying apparatus. 
     As shown in the figure, the holding mechanism  51  includes a pad  52  (holding portion) and a supporting member  53  (supporting portion). The pad  52  is supported by the supporting member  53  on a hand  54  (base portion). 
     The pad  52  is formed by laminating a substrate layer  55 , an electrode layer  56 , and an adhesive layer  57  (friction material). The substrate layer  55 , the electrode layer  56 , and the adhesive layer  57  have the same structures as the substrate layer  8 , the electrode layer  9 , and the adhesive layer  10  of the first embodiment. 
     It should be noted that the substrate layer  55  of this embodiment includes a concave portion  55   a  that is formed at the center of the surface opposing the hand  54 . The concave portion  55   a  is formed in a hemispherical shape or a semielliptical shape. 
     The supporting member  53  is an inelastic body and formed of metal or the like. The supporting member  53  is formed in a hemispherical shape or a semielliptical shape. The flat surface of the supporting member  53  is fixed to the hand  54 , and the curved surface thereof is in contact with the concave portion  55   a.  Here, the supporting member  53  is formed in a hemispherical shape or a semielliptical shape having a larger radius than the concave portion  55   a  or formed to have a smaller curvature than the concave portion  55   a.  Accordingly, an apex of the curved surface of the supporting member  53  does not come into contact with the bottom portion of the concave portion  55   a,  with the result that the oblique portion of the curved surface annularly comes into line contact with an opening edge (circumference) of the concave portion  55   a.    
     By the concave portion  55   a  sliding on the supporting member  53 , the pad  52  can tilt with respect to the hand  54 . 
     The tiltable angle of the pad  52  with respect to the hand  54  is, at most, an angle at which the pad  52  comes into contact with the hand  54 . 
     The substrate W is held and conveyed as described above. Even when a deformation such as a warpage is caused in the substrate W, by the pad  52  tilting in accordance with the surface of the substrate W, the entire surface of the adhesive layer  57  comes into contact with the substrate W so that the substrate W can be held stably. Further, since the supporting member  53  is constituted of an inelastic body, the supporting member  53  does not vibrate by an inertial force caused by the movement of the hand  54 , with the result that the substrate W can be held stably. 
     Sixth Embodiment 
     A conveying apparatus according to a sixth embodiment will be described. 
     In descriptions below, descriptions on parts having the same structures as those of the above embodiments will be simplified. 
       FIG. 10  is a cross-sectional diagram showing a holding mechanism  61  of the conveying apparatus. 
     As shown in  FIG. 10 , the holding mechanism  61  includes a pad  62  (holding portion) and a supporting member  63  (supporting portion). The pad  62  is supported by the supporting member  63  on a hand  64  (base portion). 
     The hand  64  includes a concave portion  64   a  that is formed on the surface opposing the pad  62 . The concave portion  64   a  is formed in a hemispherical shape or a semielliptical shape. 
     The pad  62  is formed by laminating a substrate layer  65 , an electrode layer  66 , and an adhesive layer  67  (friction material). The substrate layer  65 , the electrode layer  66 , and the adhesive layer  67  have the same structures as the substrate layer  8 , the electrode layer  9 , and the adhesive layer  10  of the first embodiment. 
     It should be noted that the substrate layer  65  of this embodiment does not have a concave portion on the surface opposing the hand  64 . 
     The supporting member  63  is an inelastic body and formed of metal or the like. The supporting member  63  is formed in a hemispherical shape or a semielliptical shape. The flat surface of the supporting member  63  is fixed to the substrate layer  65 , and the curved surface thereof is in contact with the concave portion  64   a.  Here, the supporting member  63  is formed in a hemispherical shape or a semielliptical shape having a larger radius than the concave portion  64   a  or formed to have a larger curvature than the concave portion  64   a.  Accordingly, an apex of the curved surface of the supporting member  63  does not come into contact with the bottom portion of the concave portion  64   a , with the result that the oblique portion of the curved surface annularly comes into line contact with an opening edge (circumference) of the concave portion  64   a.    
     By the supporting member  63  sliding on the opening edge of the concave portion  64   a,  the pad  62  can tilt with respect to the hand  64 . 
     The tiltable angle of the pad  62  with respect to the hand  64  is, at most, an angle at which the pad  62  comes into contact with the hand  64 . 
     The substrate W is held and conveyed as described above. Even when a deformation such as a warpage is caused in the substrate W, by the pad  62  tilting in accordance with the surface of the substrate W, the entire surface of the adhesive layer  67  comes into contact with the substrate W so that the substrate W can be held stably. Further, since the supporting member  63  is constituted of an inelastic body, the supporting member  63  does not vibrate by an inertial force caused by the movement of the hand  64 , with the result that the substrate W can be held stably. 
     Seventh Embodiment 
     A conveying apparatus according to a seventh embodiment will be described. 
     In descriptions below, descriptions on parts having the same structures as those of the above embodiments will be simplified. 
       FIG. 11  is a cross-sectional diagram showing a holding mechanism  71  of the conveying apparatus. 
     As shown in the figure, the holding mechanism  71  includes a pad  72  (holding portion), a supporting member  73  (supporting portion), and restricting members  78  (restricting portion). The pad  72  is supported by the supporting member  73  on a hand  74  (base portion). 
     The pad  72  is formed by laminating a substrate layer  75 , an electrode layer  76 , and an adhesive layer  77  (friction material). The substrate layer  75 , the electrode layer  76 , and the adhesive layer  77  have the same structures as the substrate layer  8 , the electrode layer  9 , and the adhesive layer  10  of the first embodiment. 
     It should be noted that the substrate layer  75  of this embodiment includes a concave portion  75   a  that is formed at the center of the surface opposing the hand  74  and two concave portions  75   b  that are formed on an outer circumferential side of the same surface. The concave portion  75   a  is formed in a hemispherical shape or a semielliptical shape, and the concave portions  75   b  are formed in a cylindrical shape. The number of concave portions  75   b  is not limited to two. 
     The supporting member  73  is an inelastic body and formed of metal or the like. The supporting member  73  is formed in a hemispherical shape or a semielliptical shape. The flat surface of the supporting member  73  is fixed to the hand  74 , and the curved surface thereof is in contact with the concave portion  75   a.  Here, the supporting member  73  is formed in a hemispherical shape or a semielliptical shape having a smaller radius than the concave portion  75   a  or formed to have a larger curvature than the concave portion  75   a.  Accordingly, an apex of the curved surface of the supporting member  73  comes into point contact with the bottom portion of the concave portion  75   a,  with the result that a gap is caused between other portions and the concave portion  75   a.  Therefore, the pad  72  is capable of tilting in all directions about the contact point. 
     A tiltable angle of the pad  72  with respect to the hand  74  is a smaller one of the angle at which the concave portion  75   a  and the supporting member  73  come into contact with each other and the angle at which the pad  72  and the hand  74  come into contact with each other. 
     The restricting members  78  are formed in a columnar shape and each have one end fixed to the hand  74  and the other end inserted into the concave portion  75   b . The restricting members  78  are formed to have a smaller diameter than the concave portions  75   b,  and tip end portions of the restricting members  78  face the bottom portions of the concave portions  75   b  with gaps interposed therebetween. Accordingly, the pad  72  is not inhibited from tilting by the restricting members  78  with respect to the hand  74 . The restricting members  78  engage with the concave portions  75   b  to prevent the supporting member  73  from disengaging from the concave portion  75   a  as the pad  72  moves horizontally with respect to the supporting member  73 . In other words, the position of the pad  72  with respect to the hand  74  can be maintained. 
     The substrate W is held and conveyed as described above. Even when a deformation such as a warpage is caused in the substrate W, by the pad  72  tilting in accordance with the surface of the substrate W, the entire surface of the adhesive layer  77  comes into contact with the substrate W so that the substrate W can be held stably. Further, since the supporting member  73  is constituted of an inelastic body, the supporting member  73  does not vibrate by an inertial force caused by the movement of the hand  74 , with the result that the substrate W can be held stably. 
     The disengagement preventing mechanism for the pad  72  that uses the restricting members  78  and the concave portions  75   b  of this embodiment is also effective when applied to conveying apparatuses of other embodiments, in particular, the conveying apparatuses according to the fourth, fifth, and sixth embodiments in which the supporting members have curved surfaces. 
     Eighth Embodiment 
     A conveying apparatus according to an eighth embodiment will be described. 
     In descriptions below, descriptions on parts having the same structures as those of the above embodiments will be simplified. 
       FIG. 12  is a cross-sectional diagram showing a holding mechanism  81  of the conveying apparatus. 
     As shown in  FIG. 12 , the holding mechanism  81  includes a pad  82  (holding portion) and a supporting member  83  (supporting portion). The pad  82  is supported by the supporting member  83  on a hand  84  (base portion). The hand  84  includes a cylindrical concave portion  84   a  on the surface opposing the pad  82 . 
     The pad  82  is formed by laminating a substrate layer  85 , an electrode layer  86 , and an adhesive layer  87  (friction material). The substrate layer  85 , the electrode layer  86 , and the adhesive layer  87  have the same structures as the substrate layer  8 , the electrode layer  9 , and the adhesive layer  10  of the first embodiment. 
     In particular, the substrate layer  85  of this embodiment does not have a concave portion on the surface opposing the hand  84 . 
     The supporting member  83  is an inelastic body and formed of metal or the like. The supporting member  83  is formed in a conic trapezoidal shape. The supporting member  83  includes two bottom surfaces. The bottom surface having a smaller area is referred to as bottom surface  83   c,  and the bottom surface having a larger area is referred to as bottom surface  83   d.  The bottom surface  83   c  is fixed to the substrate layer  85 , and the bottom surface  83   d  is in contact with the concave portion  84   a.  Here, the supporting member  83  is formed such that the bottom surface  83   d  matches the shape of the bottom surface of the concave portion  84   a . Accordingly, the bottom surface  83   d  is capable of moving from the bottom surface of the concave portion  84   a  using one point on the circumference of the bottom surface  83   d  as a fulcrum, that is, the pad  82  is capable of tilting with respect to the hand  84 . 
     A tiltable angle of the pad  82  with respect to the hand  84  is, at most, an angle at which the pad  82  or the supporting member  83  comes into contact with the hand  84 . 
     The substrate W is held and conveyed as described above. Even when a deformation such as a warpage is caused in the substrate W, by the pad  82  tilting in accordance with the surface of the substrate W, the entire surface of the adhesive layer  87  comes into contact with the substrate W so that the substrate W can be held stably. Further, since the supporting member  83  is constituted of an inelastic body, the supporting member  83  does not vibrate by an inertial force caused by the movement of the hand  84 , with the result that the substrate W can be held stably. 
     Ninth Embodiment 
     A conveying apparatus according to a ninth embodiment will be described. 
     In descriptions below, descriptions on parts having the same structures as those of the above embodiments will be simplified. 
       FIG. 13  is a cross-sectional diagram showing a holding mechanism  201  of the conveying apparatus. 
     As shown in  FIG. 13 , the holding mechanism  201  includes a pad  202  (holding portion) and a supporting member  203 . The pad  202  is supported by the supporting member  203  on a hand  204  (base portion). 
     The pad  202  is formed by laminating a substrate layer  205 , an electrode layer  206 , and an adhesive layer  207  (friction material). The substrate layer  205 , the electrode layer  206 , and the adhesive layer  207  have the same structures as the substrate layer  8 , the electrode layer  9 , and the adhesive layer  10  of the first embodiment. 
     The supporting member  203  is a coil spring, and both ends thereof are fixed to the hand  204  and the substrate layer  205 , respectively. By an elastic deformation of the supporting member  203 , the pad  202  can tilt with respect to the hand  204 . A tiltable angle of the pad  202  with respect to the hand  204  is, at most, an angle at which the pad  202  comes into contact with the hand  204 . 
     The substrate W is held and conveyed as described above. Even when a deformation such as a warpage is caused in the substrate W, by the pad  202  tilting in accordance with the surface of the substrate W, the entire surface of the adhesive layer  207  comes into contact with the substrate 
     W so that the substrate W can be held stably. 
     Tenth Embodiment 
     A conveying apparatus according to a tenth embodiment will be described. 
     In descriptions below, descriptions on parts having the same structures as those of the above embodiments will be simplified. 
       FIG. 14  is a cross-sectional diagram showing a holding mechanism  211  of the conveying apparatus. 
     As shown in  FIG. 14 , the holding mechanism  211  includes a pad  212  (holding portion) and a supporting member  213 . The pad  212  is supported by the supporting member  213  on a hand  214  (base portion). 
     The pad  212  is formed by laminating a substrate layer  215 , an electrode layer  216 , and an adhesive layer  217  (friction material). The substrate layer  215 , the electrode layer  216 , and the adhesive layer  217  have the same structures as the substrate layer  8 , the electrode layer  9 , and the adhesive layer  10  of the first embodiment. 
     The supporting member  213  is constituted of a supporting shaft  213   a  and a plate spring  213   b.  The supporting shaft  213   a  is constituted of an inelastic body and has one end thereof fixed to the substrate layer  215  and the other end thereof fixed to the plate spring  213   b.  The plate spring  213   b  is fixed to the hand  214  and capable of being elastically deformed when applied with a force by the supporting shaft  213   a.  Specifically, as the plate spring  213   b,  a plate-type elastic member that is bridged above a concave portion  214   a  formed in the hand  214  can be used. In this case, the plate spring  213   b  can be elastically deformed using a gap formed between the concave portion  214   a . Further, by being bridged radially about the point at which the supporting shaft  213   a  is fixed, the plate spring  213   b  can be elastically deformed in all directions. The structure of the plate spring  213   b  is not limited to such a structure, and a curved plate can also be used for securing the gap between the hand  214 . 
     By the elastic deformation of the plate spring  213   b,  the pad  212  can tilt with respect to the hand  214 . A tiltable angle of the pad  212  with respect to the hand  214  is, at most, an angle at which the pad  212  comes into contact with the hand  214 . 
     The substrate W is held and conveyed as described above. Even when a deformation such as a warpage is caused in the substrate W, by the pad  212  tilting in accordance with the surface of the substrate W, the entire surface of the adhesive layer  217  comes into contact with the substrate W so that the substrate W can be held stably. 
     Eleventh Embodiment 
     In a rotation-transmitting apparatus that transmits a rotation by a driving disk and a driven disk coming into contact with each other, a rotational axis of the driving disk and that of the driven disk need to be coaxial. For example, when the rotational axis of the driving disk and that of the driven disk tilt by a vibration and the like, there is a fear that a load on a contact surface between the driving disk and the driven disk may lose its uniformity and an inconvenience such as a lopsided abrasion may occur. Therefore, an alignment mechanism or the like for keeping the rotation axes on the same axis becomes necessary. Here, for the rotation-transmitting apparatus according to this embodiment, a rotation-transmitting apparatus that allows a tilt of the rotation axes will be described. 
       FIG. 15  are cross-sectional diagrams each showing a rotation-transmitting apparatus  90 . 
     As shown in  FIG. 15(A) , the rotation-transmitting apparatus  90  includes a driving axis  91 , a driving disk  92  (first spinning disk), a transmitting mechanism  93 , a driven disk  94  (second spinning disk), and a driven axis  95 . The driving disk  92  is connected to the driving axis  91 , and the driven disk  94  is connected to the driven axis  95 . The driving disk  92  and the driven disk  94  face each other via the transmitting mechanism  93 . It should be noted that it is also possible to use the driving axis  91  as a driven axis and the driven axis  95  as a driving axis. 
     The driving axis  91  is connected to an external driving source and rotates about an axis thereof. 
     The driving disk  92  rotates together with the driving axis  91 . The driving disk  92  is formed in a disk shape. 
     The transmitting mechanism  93  transmits a rotation of the driving disk  92  to the driven disk  94  or does not transmit it at all, the details of which will be described later. 
     The driven disk  94  rotates based on the rotation transmitted from the transmitting mechanism  93 . The driven disk  94  is formed in a disk shape. 
     The driven axis  95  rotates together with the rotation of the driven disk  94  and transmits the rotation to an external mechanism. 
     The structure of the transmitting mechanism  93  will be described in detail. 
     As shown in  FIG. 15(A) , the transmitting mechanism  93  includes a plate  96  (transmitting portion), a supporting member  97  (supporting portion), and rotation-transmitting pins  98  (engaging portion). The plate  96  is supported by the supporting member  97  on the driving disk  92  (first spinning disk). 
     The plate  96  has a disk shape and formed by laminating a substrate layer  99 , an electrode layer  100 , and an adhesive layer  101  (friction material). The substrate layer  99  is formed of an insulation material and includes a concave portion  99   a  that is formed at the center of the surface opposing the driving disk  92  and two concave portions  99   b  that are formed on an outer circumferential portion of the same surface. The concave portion  99   a  is formed in a hemispherical shape or a semielliptical shape. The concave portions  99   b  are formed in a cylindrical shape. 
     The electrode layer  100  is laminated on the surface of the substrate layer  99  on the other side of the surface opposing the driving disk  92 . The electrode layer  100  is formed to be capable of applying an electric field to the adhesive layer  101  formed of an electric adhesive material as in the first embodiment and includes, for example, a pectinated electrode. The electrode layer  100  is connected to a wiring (not shown) connected to an external power source. The adhesive layer  101  is laminated on the electrode layer  100  and is in contact with the driven disk  94  (adhered to driven disk  94 ). 
     The supporting member  97  is formed in a hemispherical shape or a semielliptical shape. The flat surface of the supporting member  97  is fixed to the driving disk  92 , and the curved surface thereof is in contact with the concave portion  99   a.  Here, the supporting member  97  is formed in a hemispherical shape or a semielliptical shape having a smaller radius than the concave portion  99   a  or formed to have a larger curvature than the concave portion  99   a.  Accordingly, an apex of the curved surface of the supporting member  97  comes into point contact with the bottom portion of the concave portion  99   a,  with the result that a gap is caused between other portions and the concave portion  99   a.  Therefore, the plate  96  is capable of tilting in all directions about the contact point. 
     The rotation-transmitting pins  98  transmit the rotation of the driving disk  92  to the plate  96 . The rotation-transmitting pins are cylindrical and each have one end fixed to the driving disk  92  and the other end inserted into the concave portion  99   b.  The rotation-transmitting pins have a smaller diameter than the concave portions  99   b  and does not inhibit the plate  96  from tilting with respect to the driving disk  92 . 
     An operation of the thus-structured rotation-transmitting apparatus  90  will be described. 
     The driving axis  91  and the driving disk  92  are rotated by an external driving source. 
     The rotation of the driving disk  92  is transmitted to the plate  96  by the rotation-transmitting pins  98 . 
     When a voltage is not applied to the electrode layer  100  of the plate  96 , the driven disk  94  does not rotate since the adhesive force (frictional force) between the adhesive layer  101  and the driven disk  94  is small. 
     When a predetermined voltage is applied to the electrode layer  100  of the plate  96 , the driven disk  94  is rotated by an increased adhesive force (frictional force) between the adhesive layer  101  and the driven disk  94 . The rotation is transmitted to the driven axis  95  connected to the driven disk  94 . 
     As a result, it is possible to switch whether to transmit the rotation of the driving axis  91  to the driven axis  95  based only on a voltage application to the electrode layer  100 . 
     Moreover, a transmitting torque of the driving disk  92  can be set variably by differentiating the fluidity of the adhesive layer  101  based on the level of voltage applied to the electrode layer  100 . As a result, a torque limit can be set with ease. 
       FIG. 15(B)  is a diagram showing a tilted state of the plate  96 . 
     As shown in the figure, when the driven disk  94  tilts with respect to the driving disk  92 , since the plate  96  of this embodiment is structured to be capable of tilting with respect to the driving disk  92 , it is possible for the entire surface of the adhesive layer  101  to adhere onto the driven disk  94  so as to transmit the rotation. Therefore, even when the rotation axes of the driving axis  91  and driven axis  95  tilt and the driving disk  92  and the driven disk  94  are not in parallel, a rotation driving force can be appropriately transmitted to the driven axis  95 . 
     By providing the adhesive layer  101  formed of an electric adhesive material in the rotation-transmitting apparatus  90  of this embodiment and controlling a voltage with respect to the electrode layer  100 , the rotation-transmitting force becomes variable. On the other hand, when constantly transmitting a rotational force of the driving disk to the driven disk, it is possible to use a viscoelastic material for the adhesive layer  101  instead of the electric adhesive material. Moreover, instead of the adhesive layer  101 , it is also possible to form a layer in a shape that intermeshes with the driven disk  94  (e.g., concavo-convex shape or shape of cutting blade) using a non-adhesive material such as metal so as to mechanically engage those two by bringing them into contact with each other. In this case, as in the above example, even when the rotation axes of the driving axis  91  and the driven axis  95  tilt, the rotation can be transmitted stably. 
     The present invention is not limited to the embodiments above and can be variously modified without departing from the gist of the present invention. 
     The embodiments above have shown the structure for holding an object using a friction material, but the object may be held using other structures. For example, an electrostatic chuck may be used as the holding portion or the transmitting portion. Further, the friction material is also not limited to that constituted of an electric adhesive element. Elastomer or the like may also be used. 
     The embodiments above have shown the example of the conveying apparatus and rotation-transmitting apparatus to which the present invention is applied. However, the application is not limited thereto. 
     DESCRIPTION OF SYMBOLS 
     
         
           1  conveying apparatus 
           4  hand (base portion) 
           5  holding mechanism 
           6  pad (holding portion) 
           7  supporting member 
           8  substrate layer 
           8   a  concave portion 
           9  electrode layer 
           10  adhesive layer 
           11  adhesive medium 
           12  electric rheology particle 
           21  holding mechanism 
           22  pad (holding portion) 
           23  supporting member 
           24  hand (base portion) 
           25  substrate layer 
           25   a  concave portion 
           26  electrode layer 
           27  adhesive layer 
           31  holding mechanism 
           32  pad (holding portion) 
           33  supporting member 
           34  hand (base portion) 
           34   a  concave portion 
           35  substrate layer 
           36  electrode layer 
           37  adhesive layer 
           41  holding mechanism 
           42  pad (holding portion) 
           43  supporting member 
           44  hand (base portion) 
           44   a  concave portion 
           45  substrate layer 
           46  electrode layer 
           47  adhesive layer 
           47   a  concave portion 
           51  holding mechanism 
           52  pad (holding portion) 
           53  supporting member 
           54  hand (base portion) 
           55  substrate layer 
           55   a  concave portion 
           56  electrode layer 
           57  adhesive layer 
           61  holding mechanism 
           62  pad (holding portion) 
           63  supporting member 
           64  hand (base portion) 
           64   a  concave portion 
           65  substrate layer 
           66  electrode layer 
           67  adhesive layer 
           71  holding mechanism 
           72  pad (holding portion) 
           73  supporting member 
           74  hand (base portion) 
           75  substrate layer 
           75   a  concave portion 
           75   b  concave portion 
           76  electrode layer 
           77  adhesive layer 
           78  restricting member 
           81  holding mechanism 
           82  pad (holding portion) 
           83  supporting member 
           83   c  bottom surface 
           83   d  bottom surface 
           84  hand (base portion) 
           84   a  concave portion 
           85  substrate layer 
           86  electrode layer 
           87  adhesive layer 
           90  rotation-transmitting apparatus 
           91  driving axis 
           92  driving disk (first spinning disk) 
           93  transmitting mechanism 
           94  driven disk (second spinning disk) 
           95  driven axis 
           96  plate (transmitting portion) 
           97  supporting member (supporting portion) 
           98  rotation-transmitting pin 
           99  substrate layer 
           99   a  concave portion 
           99   b  concave portion 
           100  electrode layer 
           101  adhesive layer 
           201  holding mechanism 
           202  pad (holding portion) 
           203  supporting member 
           204  hand 
           205  substrate layer 
           206  electrode layer 
           207  adhesive layer 
           211  holding mechanism 
           212  pad (holding portion) 
           213  supporting member 
           214  hand 
           215  substrate layer 
           216  electrode layer 
           217  adhesive layer  217