| 摘要 |
A gravity compensation device partially or completely compensates a force exerted by a basic mass ( 10 ) on a balancing device ( 12 ) at a first distance from an axis of rotation ( 13 ) by using a force generating device, such as spring ( 14 ), exerting a counterforce on the balancing device at a second distance from the axis of rotation. The first distance, the second distance, or both are selectable for providing the desired gravity compensation. One or more pulleys with an angle-variable radius may be used. The gravity compensation device does not add substantial mass to the basic mass, and is simple in design.
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