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MOMENT BALANCING DEVICE AND AN ARM STRUCTURE OF A SURGICAL ROBOT USING THE SAME
MOMENT BALANCING DEVICE AND AN ARM STRUCTURE OF A SURGICAL ROBOT USING THE SAME
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机译:相同的外科机器人的力矩平衡装置和手臂结构
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摘要
The present invention relates to a moment balancing device and an arm structure of a surgical robot using the same. The moment balancing device has to balance the moment that is applied to the center point by a load acting on a rotary section in a parallel link, the rotary section rotating around a predetermined center point with respect to a reference; and comprises a plate cam, a cam follower and an elastic body, wherein the plate cam has a path determined by the function of a rotation angle of the rotary section with respect to the reference. A rotational moment generated by the load of the rotary section is offset by employing the elastic body and cam structure which apply tension, such that a uniform force may be applied in any direction when rotating the rotary section. The incorporation of such a moment balancing device into an arm structure of a surgical robot makes it possible to move the robot arms with a uniform force, independent of the influence of gravity.
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