| 摘要 |
<p>Provided is a gravity compensation mechanism 30 and a robot 10 allowing a high flexibility in designing gravity compensation torque property. The gravity compensation mechanism 30 includes a first non-circular gear 31 configured to rotate about a rotation axis L of an arm part 14 of the robot 10 together with the arm part 14, a second non-circular gear 32 driven by the first non-circular gear 31, and an extension/contraction body 34 configured to extend and contract to produce force as the second non-circular gear 32 rotates, one end portion of the extension/contraction body 34 being connected to the second non-circular gear 32.</p> |
