Abstract: A technical system comprising a structure within an enclosed space, inside which paint-stripping and refurbishing operations for aircraft, rail rolling stock or sea-going vessels are carried out, comprising:

Abstract: A gravitational compensating system that eliminates gravitational torque of linked robotic arms is provided. A three arm embodiment is disclosed which rotates around a vertical reference axis. The second and third arm rotate around two separate horizontal axes. The gravitational compensating system compensates for the gravitational torque attributed to the second arm as it rotates about its horizontal swing axis and the gravitational torque attributable to the third arm as it rotates about its horizontal swing axis. The combined actuating and compensating systems for the second and third arm are housed in the base structure of the first arm. The compensating system also applies to two arm embodiments.

Abstract: This invention relates generally to robots and specifically to a robot for spraying applications which has the ability to accurately follow trajectories that require high speeds and accelerations, a working envelope appropriate for processing the sides, top, and bottom of a large object such as an aircraft, an integrated revolute joint and actuator for supplying power to the movable components of the robot along protected, low maintenance power paths, a zero backlash drive, and a gravity compensating system which causes the robot to be neutrally balanced throughout its entire working envelope even while carrying a payload of significant weight.