Counterbalance assembly for rotatable robotic arm and the like
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United States of America Patent
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Feb 14, 1989
Grant Date -
N/A
app pub date -
Feb 11, 1987
filing date -
Feb 11, 1987
priority date (Note) -
Expired
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Abstract
There is provided a counterbalance assembly for use in combination with a rotatable robotic arm and the like in a robotic manipulator, where the robotic arm is rotated about an axis by a torque-producing device having a relatively stationary base. The assembly further includes a torsional spring comprising a pair of concentric tubes connected to each other by rubber, with one tube connected to the arm and the other tube connected to the base. In general, any torque created by the influence of gravity acting on the robotic arm, as it is rotated, is counterpoised by torsional wind-up in the spring due to proportional resistance of the rubber to torsional shear. This spring/arm combination thereby reduces the load on the torque-producing device.
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