| 摘要 |
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. |
