MANIPULATOR WITH WEIGHT COMPENSATION MECHANISM AND FACE ROBOT USING THE SAME

摘要

PURPOSE: A manipulator with a gravity compensation device and a face robot using the same are provided to reduce capacity of an actuator needed for driving by compensating gravity applied to a rotation unit of the manipulator with elastic force of a spring. CONSTITUTION: A face robot comprises a manipulator(100), a face of a robot(101), and a gravity compensation device. A manipulator is mounted on an upper surface of a base(110) and comprises a first rotation unit(141) rotating around a first shaft(121) and a second shaft(122) and a second rotation unit(142) individually rotating based around a third shaft(123) and a fourth shaft(124). The face of the robot is mounted in front of the second rotation unit. The gravity compensation device is mounted on a base and comprises a fist gravity compensation unit compensating gravity of the first rotation unit and a second gravity compensation unit compensating the gravity of the second rotation unit.