ROBOT ARM HAVING A WEIGHT COMPENSATION MECHANISM

摘要

PURPOSE: A robot arm having a gravity compensation mechanism is provided to form a link mechanism with the multi-degree of freedom joint, thereby offsetting a gravitational effect due to the weight of the link mechanism. CONSTITUTION: A robot arm having a gravity compensation mechanism includes a first rotating member (101), a second rotating member (102), and single degree of freedom gravity beams (201,202). The rotating members respectively rotate with double degree of freedom rotations. The first rotation of the first rotating member is a yaw rotation. The second rotation of the first rotating member is a pitch rotation perpendicular to the first rotation. The third and the fourth rotation of the second rotating member are respectively the pitch rotation and a roll rotation. The single degree of freedom gravity beams are connected to the first rotating member or the second rotating member. The single degree of freedom gravity beams offset gravities due to the weight of the first rotating member or the second rotating member.