| 摘要 |
The articulated carrying system comprising an arm 20 and a forearm controlled by a control piece 31 by virtue of a deformable-parallelogram mechanism, a first spring 1 is anchored onto the arm so as to balance the torque exerted by the weight of the system, a second spring 2 is anchored onto the control piece 31 so as to balance the torque exerted by the weight of the forearm, and a guided connecting rod 4 acts on a third spring 3 anchored to the arm 20 so as to compensate for variations in torque exerted by the weight of the system when the forearm is commanded to move. <IMAGE>
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