| 摘要 |
PURPOSE: A gravity compensating device installed in a small actuator of a joint robot is provided to improve torque and energy efficiency because the torque is compensated in a direction opposite to loads. CONSTITUTION: A gravity compensating device(150) is joined to a driving motor of a small actuator module(110) through a ball bearing. The gravity compensating device comprises a rotator(120), a fixed member(130), and a torsion spring(140). The rotator rotates depending on the rotation of the driving motor. If the gravity compensating device is influenced by gravity when robot arms joined to the rotator rotates, the gravity compensating device is compressed by an elastic member according to a rotating direction. If a rotational angle is increased by the gravity when the robot arms rotate, torque is compensated in a direction opposite to loads so that gravity torque exerted on the driving motor is compensated.
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