| 摘要 |
A robot frame rotates about a first axis (13), while a primary arm (10) rotates about a second axis (12) in the frame. A secondary arm (14) is fastened slidably to the primary arm, and a counterweight (16) is secured to the primary arm to balance the robot arm system. The secondary arm and the counterweight are displaceably fastened such that independently of the position of the secondary arm on the primary one, the centre of gravity of the arm system, is near to the rotary axis of the primary arm in the frame. The secondary counterweight are displaced simultaneously and translatorily towards and away from each other on either side of the axis, by a movement transmission (18,20). |
