FIELD: industrial robots.
SUBSTANCE: invention relates to an industrial robot with adaptive external load compensators, namely to a compensator for torque deviations of a manipulator arm drive motor. The adaptive compensation system of an industrial robot contains at least two rotational pairs with at least two degrees of freedom, on which the compensator is fixed. The compensator is made in the form of a wheel-lever system, consisting of a lever with two springs fixed on it, also fixed on a rotational pair. The springs are fixed on actively adjustable pivot points, and the number of expansion joints is equal to the number of degrees of freedom.
EFFECT: fixation points of the springs are adjustable to obtain different values of the counter torque.
5 cl, 7 dwg
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