Moment compensator for robot arm manipulator

摘要

The method uses an energy store (21) with at least two successive springs having different spring constants and mechanically limited spring movements. The spring limiters have at least two springs so that extend with separate static moments. The springs are connected through a transmission cable to produce rotary moments to the rotary axis of a rotatably mounted manipulator arm. The damper can use compression or tension springs, or torsion springs.