| 摘要 |
PURPOSE:To reduce the weight and dimension by allowing the torque applied onto each joint to be offset by a constant output spring and allowing two arms to be balanced at arbitrary positions and rested. CONSTITUTION:A differential gear 7 is installed between two side plates 4 and 4' at the lower edge of the first arm A1, and the difference between the angle theta2 of aperture of the second arm A2 with respect to the first arm A1 and the inclination angle theta1 of the first arm A1 with respect to a stand is taken-out. An output lever 16 is fixed onto a gear 15 which engages with the gear 14 of the differential gear 7, and a constant output spring 17 for offsetting the torque applied onto the second joint O2 is arranged between the output lever 16 and the side plate 4'. A constant output spring 20 for offsetting the torque applied onto the first joint O1 by the first arm A1 is arranged between the lever 19 of a stand 2 and the side plate 4. |
