| 摘要 |
A C frame structure, a robotic system and an associated method are provided respond to and accommodate the loads placed upon the C frame structure during actuation of a working tool. The C frame structure includes a plurality of links and a plurality of pins interconnecting the links to form a pinned truss configuration. The pinned truss configuration is responsive to loads imparted in response to actuation of the tool such that each link is placed in compression or tension. The C frame structure also includes a plurality of hydraulic cylinders connected to the links such that each hydraulic cylinder extends in parallel to a respective link. A first hydraulic cylinder operates in a compression mode in response to strain attributable to actuation of the tool. A second hydraulic cylinder operates in an extension mode in response to the first hydraulic cylinder operating in the compression mode. |
