Handling/compensating device comprising a serial spring arrangement and optional different spring stiffnesses

A compensating device for compensating positioning inaccuracies between a manipulator and an effector comprising:

• a sleeve-shaped compensating device housing which includes an end portion which faces the 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,
• wherein
• a first spring assembly is disposed in the region of the manipulator attachment point and is configured to apply pretension along a longitudinal direction of the housing translationally in a direction of a Z-axis to the rotatable and displaceable effector attachment point;
• a second spring assembly is disposed in series to the first spring assembly and 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.