Gravity compensation device for rotary and linear joints

Gravity Compensation Device for Both Rotary and Linear Joints

This technology relates to a gravity compensation device for rotary and linear joints, utilizing a cam and a torsion spring to counteract the gravitational torque acting on the joints.

Existing gravity compensation structures often cause unnecessary displacement and torque during linear motion, which increases energy consumption and reduces the efficiency of manipulator robots.

By combining a cam follower, a torsion spring, and a belt-pulley transmission element, this technology compensates for gravity in both rotary and linear joints, thereby improving energy efficiency. It is applicable to rehabilitation devices, flight simulation equipment, and more.

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Key Features:

• A joint member installed to allow both rotation and linear movement relative to the housing
• A cam profile that rotates in conjunction with the joint member, and a cam follower that moves vertically along the cam profile
• A spring pressure mechanism installed within the housing to move with the cam follower and transmit elastic force
• A torsion spring that operates in conjunction with the linear movement of the joint member and is compressed by the spring pressure mechanism to provide elastic force in the direction opposite to the rotation

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This invention was developed with support from the Ministry of Science and ICT for the development of an integrated gravity compensator for the miniaturization of wearable robots.