发明名称 |
Master slave manipulator system |
摘要 |
<p>A master slave manipulator system includes a master arm having six or more axes of motion and a jointed slave arm having six or more axes of motion. The master arm has an arm body and a wrist assembly connected to the arm body. The wrist assembly of the master arm is constructed such that a space having predetermined dimensions in X, Y and Z directions is formed around a gripper by disposing a pitch- axis, a yaw-axis and a roll-axis thereof outside of the space and by directing output axes of the pitch-axis, the yaw-axis, and the roll-axis toward the gripper. The slave arm has a wrist assembly which is constructed such that a pitch-axis, a yaw-axis and a roll-axis are accommodated within a space having predetermined dimensions in X, Y and Z directions which are different from those of the wrist assembly of the master slave by shortening connecting members between the pitch-axis, the yaw-axis and the roll- axis and by directing output axes of the three axes away from corresponding mounting portions.</p> |
申请公布号 |
EP0364947(B1) |
申请公布日期 |
1997.05.28 |
申请号 |
EP19890119251 |
申请日期 |
1989.10.17 |
申请人 |
HITACHI, LTD. |
发明人 |
TSUCHIHASHI, AKIRA;TAKARADA, SHINICHI;IWAMOTO, TARO;NAKAJIMA, KICHIO;YAMAMOTO, HIROSHI;AOKI, TATSU |
分类号 |
B25J3/04;(IPC1-7):B25J3/04;B25J13/02 |
主分类号 |
B25J3/04 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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