| 摘要 |
PURPOSE:To perform effective operation of a gravity balancer in simple answer to various installation postures. CONSTITUTION:When an actuator to rotate a rotary link 2 through drive of a rotary joint 3 through which a fixed link 1 is coupled to the rotary link 2 is caused to receive gravity torque through the posture of the rotary link 2, one end of a coil spring 4 is rotatably supported (at moving support ends 5a and 5b) on the rotary link 2 at a given distance from the rotary joint 3. The other end of the coil spring 4 is rotatably supported (at a fixed support end 6) on the fixed link 1 at a given distance from the rotary joint 3, and by using the coil spring 4, gravity torque exerted on the actuator for driving the rotary joint is compensated. In a so formed robot, one or both of the mounting positions of the moving support end 5 and the fixed support end 6 are variable. |
