| 摘要 |
PROBLEM TO BE SOLVED: To provide a mechanical weight compensation apparatus which has simple structure and is able to balance gravity applied to an operating arm with respect to three orthogonal axes in space. SOLUTION: An extension coil spring 3 is attached to a link 2 in parallel with the link 2 with its one end fixed to the tip end side of the link 2. A wire 4 is connected to the other end of the coil spring 3. A pulley 5 having a built-in bearing is arranged at the middle portion of the link 2 so as to serve as a reference point A. The wire 4 is connected to an operation point B located at an upper side of a base 1 right above a rotary axis O of the base 1 via the pulley 5 having a built-in bearing. The reference point A, where the pulley 5 having a built-in bearing is to be located, is determined such that distance p is larger than distance h, and also the coil spring 3 is elongated by|p-h|in an initial state as (θ=90°). COPYRIGHT: (C)2003,JPO
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