公开(公告)号：US20140084131A1

公开(公告)日：2014-03-27

申请号：US13955550

申请日：2013-07-31

Applicant: Hyun-Sik SIM ,  Yongjae KIM ,  Narae LEE ,  Youn Baek LEE

Inventor： Hyun-Sik SIM ,  Yongjae KIM ,  Narae LEE ,  Youn Baek LEE

IPC: B25J19/00

CPC classification number: B25J19/002

Abstract: The present inventive concepts relate to an apparatus having a multi-jointed arm. The apparatus having a multi-jointed arm may include a body; a multi-jointed arm having a first link rotatably combined with the body at a first joint and a second link rotatably combined with the first link at a second joint; and a compensator generating a compensation moment cancelling out a moment being generated by a weight of the multi-jointed arm. The compensator includes a compensation load generating the compensation moment, and a compensation link connecting the compensation load and the multi-jointed arm so that the compensation load and the multi-jointed arm are on opposite sides of the first joint.

Abstract translation: 本发明构思涉及具有多关节臂的装置。 具有多关节臂的装置可以包括主体; 多关节臂，其具有在第一关节处可转动地与所述主体结合的第一连杆和在第二关节处与所述第一连杆可旋转地组合的第二连杆; 以及补偿器，其产生补偿力矩消除由多关节臂的重量产生的力矩。 补偿器包括产生补偿力矩的补偿负荷，以及连接补偿负荷和多关节臂的补偿连杆，使得补偿负荷和多关节臂位于第一关节的相对侧。