APPARATUS INCLUDING MULTI-JOINTED ARM AND GRAVITY COMPENSATION METHOD

摘要

The present inventive concepts relate to an apparatus having a multi-jointed arm. The apparatus having a multi-jointed arm may include a body; a multi-jointed arm having a first link rotatably combined with the body at a first joint and a second link rotatably combined with the first link at a second joint; and a compensator generating a compensation moment cancelling out a moment being generated by a weight of the multi-jointed arm. The compensator includes a compensation load generating the compensation moment, and a compensation link connecting the compensation load and the multi-jointed arm so that the compensation load and the multi-jointed arm are on opposite sides of the first joint.