Counterbalance
AssemblyA gas spring that offsets the arm weight so the shoulder motor drives the payload rather than the dead weight of the arm. A full specification article for this item is being written. Meanwhile its bill of materials and connections are below.
Bill of materials for Counterbalance
4 top-level lines as of r81649| # | Item / sub-assembly | Part no. | Qty/assy | Ext. qty | Parts | Type |
|---|---|---|---|---|---|---|
| 1 | Gas Spring Cylinder | heavy-payload-robot-gas-spring | 1× | 1 | · | part |
| 2 | Balance Link | heavy-payload-robot-balance-link | 1× | 1 | · | part |
| 3 | Ball Bearing | ball-bearing | 2× | 2 | · | part |
| 4 | Pivot Pin | heavy-payload-robot-pivot-pin | 2× | 2 | · | part |