Handling/Compensating Device Comprising a Serial Spring Arrangement and Optional Different Spring Stiffnesses

A compensating device includes a sleeve-shaped compensating device housing which includes an end portion which faces a manipulator and has a manipulator attachment point and, on an opposite end portion, an end effector attachment point configured to rotate and be displaced relative to the housing. A first spring assembly disposed in the region of the manipulator attachment point is configured to apply pretension along a longitudinal direction of the housing translationally in a direction of a Z-axis to the effector attachment point, a second spring assembly disposed in series to the first spring assembly is configured to apply pretension rotationally about an X-axis and a Y-axis to the effector attachment point, and a third spring assembly is disposed in series to the second spring assembly and is configured to apply pretension translationally along the X-axis and the Y-axis direction and rotationally about the Z-axis to the effector attachment point.