| 摘要 |
The master arm includes two parallel branches ( 1, 2 ), preferably symmetric, joining together at a control wrist ( 7 ). The branches are formed of segments ( 3, 4, 5, 6 ), the first (3) of which extend from a common base ( 8 ), and moving away from the base such that the branches move apart from each other and prevent the appearance of kinetic singularities.
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