公开(公告)号：US20130180353A1

公开(公告)日：2013-07-18

申请号：US13741839

申请日：2013-01-15

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Sung Chul KANG ,  Chang Hyun CHO ,  Jun Ho CHOI ,  Mun Sang KIM

IPC: B25J19/00

CPC classification number: B25J19/0008 ,  B25J19/0016

Abstract: The robot arm having a weight compensation mechanism has a first rotation member and a second rotation member which are respectively capable of making two-DOF rotation, a first rotation of the first rotation member is yaw rotation, and a second rotation of the first rotation member is pitch rotation perpendicular to the first rotation, a third rotation and a fourth rotation of the second rotation member are respectively pitch rotation and roll rotation, and the robot arm comprises a single-DOF gravity compensator connected to the first rotation member or the second rotation member and offsetting the gravity caused by weight of the first rotation member or the second rotation member by using an elastic force of an elastic member.

Abstract translation: 具有重量补偿机构的机器人臂具有分别能够进行双DOF旋转的第一旋转构件和第二旋转构件，第一旋转构件的第一旋转是偏转旋转，并且第一旋转构件的第二旋转 是与第一旋转垂直的俯仰旋转，第二旋转构件的第三旋转和第四旋转分别是俯仰旋转和滚动旋转，并且机器人臂包括连接到第一旋转构件的第一自由度重力补偿器或第二旋转 并且通过使用弹性构件的弹力来抵消由第一旋转构件或第二旋转构件的重量引起的重力。