STATIC TORQUE ADJUSTING ARRANGEMENT, INDUSTRIAL ROBOT COMPRISING THE ARRANGEMENT AND METHOD FOR ADJUSTING A STATIC TORQUE

摘要

Arrangement (40) for an industrial robot (10), the arrangement (40) comprising a rotatable input member (30); a rotatable output member (34) arranged to rotate about a substantially vertical rotational axis (18); a gear unit (32) defining a gear ratio between the input member (30) and the output member (34); and a passive mechanical torque adjusting device (42) configured to apply a torque to the output member (34) around the rotational axis (18) such that the absolute value of a static torque on the output member (34) is increased. An industrial robot (10) comprising the arrangement (40) and a method for controlling backlash in an industrial robot (10) are also provided.