MOMENT EQUILIBRIUM MECHANISM AND ARM STRUCTURE OF SURGICAL ROBOT USING THE SAME

摘要

PURPOSE: The turning moment generating with the load of a turning unit is offseted. The uniform power is added in the rotation of the rotary motion part to all directions. CONSTITUTION: A moment balancing tool comprises a plate cam(12), a cam follower(22), and an elastic body(30) The plate cam is punched in a reference unit(10) according to the predetermined route. If a rotary motion part(20) revolves, the cam follower moves according to the movement route offered with the plate cam. The elastic body is combined in the rotary motion part. In order that moment by the load and the offseted moment are created, elastic body sanctions the tension in the cam follower. The route of the plate cam is formed according to a functional relation for the angle of the turning unit rotated for the reference unit.