HAPTIC DEVICE WITH A GRAVITY COMPENSATION FUNCTION, CAPABLE OF COMPENSATING A LOAD TORQUE CAUSED BY THE WEIGHT OF THE SAME

摘要

PURPOSE: A haptic device with a gravity compensation function is provided to save energy by reducing the weight of the same by reducing a power source used power is applied.;CONSTITUTION: A haptic device with a gravity compensation function comprises a base(101); first, second, and third rotary links(102,103,104); and first and second gravity compensation units(140,141). The first rotary link is rotationally connected to the base, and rotates around a first rotational axis(110). The second rotary link is rotationally connected to the bottom end of the first rotary link, and rotates around a second rotational axis(111) vertical to the first rotational axis. A third rotational axis is rotationally connected to the bottom end of the second rotary link and rotates in the same direction as the second rotational axis. The first and second gravity compensation units compensate the gravity torque of the second and third rotary links, respectively.;COPYRIGHT KIPO 2013