Patent ID: 6923613
Filing Date: 2005-08-02
Classification: B25J

Abstract:
1. A manipulator comprising a foot part and a number of members connected to the foot part and to each other respectively, and at least a gripper, such that the members and the gripper constitute, with the foot part, an arm, wherein drive means, comprising motors for moving at least a number of the members and the gripper are provided in the foot part wherein a first member, comprising an upper arm, is rotatable at least 360° about a shoulder axis relative to the foot part and a second member, comprising a lower arm, is rotatable about an elbow axis relative to the first member, wherein compensating means being provided in the foot part for the first and second member which, upon rotational movement of the members, at least partially compensate for the moment exerted by the first member relative to the foot part and by the second member relative to the elbow axis, the arrangement being such that thus, during use, couples acting on a number of drive means are limited; wherein the shoulder axis comprises at least a first rotary shaft and a second rotary shaft, the first rotary shaft being coupled to the first member and the second rotary shaft being coupled to the second member, the compensating means comprising a first eccentric coupled to the first rotary shaft and a second eccentric coupled to the second rotary shaft, first and second spring means being coupled to the first and the second eccentric respectively, the eccentrics being directed such that at the maximally reachable horizontal position of the relevant arm part, the force exerted on the relevant rotary shaft by the spring means is maximal and at the maximally reachable vertical position of the relevant arm part, said force is minimal.