MULTI-DEGREE OF FREEDOM TORQUE-FREE LINKAGE UNIT

摘要

The present invention provides a multi-degree of freedom torque-free linkage unit comprising: a root link; a base link; and a first link spaced from a first joint, and comprises a counter balancer including a first counter balancer which enables gravity compensation of the first link, and a curved parallelogram unit comprising: a base part location-fixed and arranged at the root link; a first base part rotatably provided to the base link and the first joint formed by the first link, and connected to the first counter balancer; and a parallelogram transfer part for connecting the base part and the first base part and forming a reference position for gravity compensation of another link connected to the base link by rotating the first base part on the first joint when the base link moves relatively with respect to the root link.