Patent ID: 8789440

Claim:
A manipulator with a weight compensation mechanism, the manipulator having rotation parts connected to a plurality of axes rotating about their axes, the manipulator comprising: a weight compensation mechanism that supports wires connected to the rotation parts receiving gravity in a rotation state by a spring and compensates an influence of gravity exerted on the rotation parts when the wires pressurize the spring or cancel the pressurized state thereof due to the rotation of respective rotation parts by the elastic restoring force of the spring, wherein the axes of the manipulator are divided into a first axis (yaw) matching the direction of gravity, a second axis (pitch), a third axis (pitch), and a fourth axis (roll), wherein the manipulator includes a first rotation part that rotates about each of the first axis and the second axis and a second rotation part that rotates about each of the third axis and the fourth axis, and wherein a first wire of the weight compensation mechanism is connected to the first rotation part and a second wire of the weight compensation mechanism is connected to the second rotation part, thereby compensating the gravity generated when the first rotation part rotates about the second axis and the second rotation part rotates about the third axis and the fourth axis.