| 摘要 |
<p>Master-slave manipulator having a master arm provided with a control handle and a slave arm controlled by the master arm and provided with a tool, said arms being connected by a shaft mounted in pivotal manner about its axis with respect to a fixed support, the master arm having at least one so-called shoulder articulation between itself and the shaft and perpendicular to the shaft axis, said slave arm being of the articulated type and having an upper arm articulated about a shoulder axis perpendicular to the shaft axis and a lower arm articulated with respect to the upper arm about an elbow axis parallel to the shoulder axis, wherein it comprises means for defining a first point occupying a homothetic position in a homothetic transformation of negative ratio relative to the shoulder axis of the arm of the control handle and means for transmitting position information from said point to the slave arm, said means comprising at least two rods, the first of said rods being articulated to the said point about an axis perpendicular to the shaft axis and relative to the second rod with an axis parallel to the first axis, said second rod being articulated by its other end to a second point connected to the shaft through which passes an axis parallel to said first axis, one of the rods being forced to remain parallel to the lower arm, whereby said rods have lengths proportional to the lengths of the corresponding lower and upper arm.</p> |
