GRAVITY COMPENSATION APPARSTUS USING MAGNETIC

摘要

The present invention relates to a gravity compensation apparatus using a permanent magnet and, more specifically, to a gravity compensation apparatus enabling a rotary movement with a small force to compensate for external load torque using the magnetic force of the permanent magnet. The purpose of the present invention is to provide a gravity compensation apparatus equipped with permanent magnets in the rotatable outer ring portion and inner ring portion respectively and adapted to compensate for the external load torque using attraction and repulsion occurring as the outer ring portion and the inner ring portion rotate and the distance between the permanent magnets changes. The gravity compensation apparatus is applied to a manipulator having a joint structure and can reduce a load applied to an actuator since a load due to gravity which is increased in proportion to the rotation angle and the heavy load of the link can be compensated for by the magnetic force of the permanent magnet. In addition, the specifications of the actuator can be lowered.