Articulated mechanical arm provided with a passive device for gravity compensation

摘要

The arm (300) has passive device for compensation for gravity is provided with drive mechanism and magnetic device. The drive mechanism is designed to transmit rotation of second element (307) to magnetic device. The magnetic device is designed to produce torque further to rotation of second element. The mechanism and device is also designed such that torque is retransmitted by drive mechanism to first pivot connection (302), such that retransmitted torque cancels moment of force caused by gravity which is exerted on articulated mechanical arm.