Abstract: An industrial robot of the type comprising a frame mounted for rotation about a horizontal axis and having a pivot arm which is pivotally attached to the frame for pivotally supporting a boom, is provided with a counterbalancing device for equalizing the weight of the boom. The counterbalancing device includes a toggle lever mounted for pivotal motion about a fixed horizontal axis that extends at right angles to the axis of rotation of the frame, a counterweight or piston being connected to the toggle lever at a point spaced from one side of the pivot axis of the toggle lever, and a linkage connecting a second point on the toggle lever, located on the other side of its pivot axis, to the pivot arm at a location that is spaced from the pivot axis between the pivot arm and frame.

Abstract: An apparatus attached to a motor driven manipulating instrument for detecting and identifying specific forces employed in moving the instrument along a predetermined spatial track. The apparatus includes a center portion rigidly attached to the manipulating instrument and a sleeve member surrounding the center portion. A plurality of separate, flexible blades join the sleeve and center portions to each other, with a separate transducer fixedly attached to each flexible blade and capable of detecting bending forces employed to move the sleeve and attached instrument. The transducers generate output signals indicative of the magnitude and direction of the forces, which signals are used for establishing a program for controlling the actuation of the various motors to allow the instrument to repeatedly execute the course set forth in the program.