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设计出了一种新的凸轮补偿式机器人小臂完全平衡机构，较好地解决了关节型机器人实现完全平衡的难题。该机构具有一定的实用价值。
A new fully compensated arm arm balancing mechanism is designed, which solves the problem of complete balance of articulated robots. The agency has a certain practical value.