| 摘要 |
An articulated boom having a single joint intermediate the ends thereof is pivoted at one end about a horizontal axis of a support member. The support member is in turn connected to a mount member and pivoted about a vertical axis thereof. The other end of the boom has end effectors and end effector positioning elements located thereon. A control member smaller in size but similar in form to the articulated boom having a single joint intermediate the ends thereof is also pivoted at one end about another horizontal axis of another support member and a handle is provided at the other end thereof. The other support member is connected to the one support member and pivotal to a limited extent about another vertical axis. Hydraulic actuators, control valves and control linkages are interconnected with the boom and the control member so that movement of the handle causes the boom to mimic the movement of the control member and also so that forces encountered by the end effector on the boom are reflected back, reduced in magnitude, however, to the handle held by the operator.
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