| 摘要 |
The mechanism includes a motorized drive (40) controlled by a load sensor placed in a chosen position to assist an operator in the case of manual displacement or to ensure constant force on a given part. The axes are linked respectively to the rotational axis (20) of the proximal arm (12) and with the axis (24) of the distal arm (14). One (20) of the two output axes forms the rotational axis of the proximal arm whilst the other output axis (22) is coupled to the rotational axis (24) of the distal arm (14) by a transmission mechanism having at least a deformable parallelogram. The mechanism is of the type including a hinge (10) formed by a proximal arm carried on a support fixed to a first rotation axis and a distal arm, supported by the proximal arm, and fixed to a second rotational axis. The second axis extends parallel to the first and the distal arm has a free end (26) supporting a load (F). The mechanism includes a first high pass band balancer (18,20) acting on the proximal arm and a second high pass band balancer acting on the distal arm. A coordinating mechanism is interposed between the balancers to coordinate the respective rotational movement of the two arms. The balancer (18) is designed to produce a sinusoidal link, it has two output axes (20,22) which have synchronized rotational speeds in opposite directions
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