FIELD: industrial robots.
SUBSTANCE: invention relates to an industrial robot with adaptive external load compensators, namely, to a compensator of a system with two degrees of freedom, including a rotational and a prismatic joint. The adaptive compensation system of an industrial robot contains at least one pair with two degrees of freedom, including a rotational and a prismatic hinge, on which a compensator is fixed, made in the form of springs, fixed on cables moving along at least two pulleys. The springs are made with a passive-adaptive movable attachment point.
EFFECT: invention provides compensation for gravity on prismatic connections at different orientations.
5 cl, 3 dwg
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