Gravity counter-balancing device for a robotic arm
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专利名称：Gravity counter-balancing device for a
robotic arm
发明人：Herve, Jacques
申请号：EP85400938.8
申请日：19850514
公开号：EP0165129A1
公开日：
19851218
专利内容由知识产权出版社提供
专利附图：
摘要：the device includes a rigid auxiliary balancing part (2) formed around a second horizontal axis (a) parallel to the axis (oa) of the robot arm (1), the room (2) has two arms (transversaux (3)(4) whose ends can be pressed against a body part (10), (11) moving in a
translation subject to a recall effort is proportional to the distance (d) between an initial position and the p) occupied by the body (11).means (m) is provided to rotate the workpiece (2) around the second axis (rb) at an angular speed equal in absolute value.half of the robotic arm (1), the system is oriented angularly in such a way that, when the arm (1) is verical, both ends (3)84) are simultaneously on the transverse arm part (10), the constant of proportionality between the recall effort and the magnitude of the displacement.the distance (b) from the second axis (a) at the end (b3, b4) of cross arm is selected in such a way that the balance is maintained.
申请人：ECOLE CENTRALE DES ARTS ET MANUFACTURES
地址：Grande Voie des Vignes F-92290 Chatenay-Malabry FR
国籍：FR
代理机构：Peuscet, Jacques
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