| 摘要 |
Disclosed are a constant force spring and a control arm structure for a surgical robot including the constant force spring. The constant force spring is installed on an arm connected to a four-pivot link for gravity compensation. The width of the constant force spring is calculated and determined to correspond to the status of the position of the four-pivot link being rotated from a predetermined reference point. The width of the constant force spring is designed to correspond to the usage status of the control arm to overcome the feature of the gravity compensation limitations for a conventional constant force spring, and enables the constant force spring to compensate the gravity in any place within a work area where the control arm is used without requiring additional motor torque. |
