| 摘要 |
The counter-balancing device incorporates a rigid auxiliary component hinged about a second horizontal axis parallel to the rotation axis of the robot arm. This auxiliary component incorporates two transverse arms whose distal ends are capable of bearing against a portion of a component which is movable in translation and is subjected to a return force proportional to the distance between an initial position and the position instantaneously occupied by this component. The rigid auxiliary component is driven in rotation about the second axis at an angular velocity whose modulus is equal to half that of the robot arm; the assembly is calibrated angularly in such a way that when the arm is vertical, the two distal ends of the transverse arms bear simultaneously upon the said straight portion, the constant of proportionality between (a) a return force and (b) the amplitude of displacement and the distance from the second axis to the distal ends of the transverse arms being chosen in such a way that balancing is obtained. |
