MECHANICAL ARM, MASTER OPERATING PLATFORM, AND SURGICAL ROBOT
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United States of America
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Issued Date -
Dec 12, 2024
app pub date -
Oct 20, 2022
filing date -
Oct 20, 2022
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Abstract
A mechanical arm, a master operating platform, and a surgical robot. The mechanical arm comprises a base link; a parallelogram mechanism rotatably connected to the base link, an axis of rotation of the parallelogram mechanism about the base link coinciding with a first rotational axis between a first linkage and a second linkage in the parallelogram mechanism; and a gravity compensation mechanism, comprising a rotating mechanism and an elastic mechanism, the rotating mechanism being coupled to at least one of the first linkage and the second linkage, as well as the base link, and the elastic mechanism being coupled to the base link and the rotating mechanism, so as to generate a compensation torque to balance gravity moment of the parallelogram mechanism in at least one degree of freedom corresponding to the parallelogram mechanism.
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