Species based on zero free length of the spring force feedback devices gravity compensation method

Species zero free length spring gravity compensation method of a force feedback device based on (1) the gravity compensation spring end of the boom is attached to a base speed reduction mechanism driven wheel spring mounting surface, the other end is connected through a fixed pulley connected by a rope large arm driven gear reduction mechanism and the boom extension line of the reverse driven wheel rim junction point; (2) connected to the spring end of the gravity compensation spring arm fixedly mounted to the base surface of the driven wheel speed reduction mechanism, the other end of the wire rope by after fixed pulley connected to the driven wheel rim at a connection point of the transfer arm reduction mechanism. The present invention reduces the amount of the inertia force feedback device of the boom arm mechanism or mechanisms to avoid the rope with the arm mechanism of the boom mechanism or interfere with each other at certain positions. And fully consider the length of the radius and a fixed pulley mounted position of the gravity compensation, gravity compensation spring proved that the method can achieve full compensation of the gravity force feedback devices.