| 摘要 |
When an operator moves the grip member in the first bending direction x or in the second bending direction y or in the third twisting direction z, the three motions are detected by three sensing means independently to drive a slave manipulator in the same way. The master manipulator comprises four members of a first lever pivotable around the axis X, a second lever pivotable around the axis Y, a connecting member, and a link member, which forms a transformable parallelogram with three universal joints as joints. To detect only the third twisting motion z, the above mechanism may be sufficient. However, to detect other two bending motions x and y simultaneously, the master manipulator is further provided with a bending motion transform assembly and a spherical bearing assembly. In the bending motions x and y, a parallelogram is formed, in particular, with the spherical bearing disposed near the third universal joint as joint, and the two motions x and y of the link member are detected by way of the transform assembly. |
