| 摘要 |
A pair of connected joints in a master-slave robotic system each operated by a plurality of force imparting means. Such force imparting means for the second joint imparts force thereto at an acute angle. A third joint is used with a flexible drive tape partly internal thereto. A gripping system having an orthogonally rotatable base effector is supported by this joint using a pair of linear actuators to position the base effector as desired. A counterpart system having an orthogonally rotatable base follower orthogonally rotatable on a pair of linear actuators uses the actuators to null out forces occurring thereon. |
