MASTER-SLAVE SYSTEM USING A PARALLEL MECHANISM WITH FOUR DEGREES OF FREEDOM TO REDUCE THE NUMBER OF DRIVING UNITS AND SENSORS

摘要

PURPOSE: A master-slave system using a parallel mechanism with four degrees of freedom is provided to reduce the cost and improve the manipulation feeling and precision by utilizing a small number of driving units and senses.;CONSTITUTION: A master-slave system using a parallel mechanism with four degrees of freedom(100) comprises a master device(M), a slave device(S) and a controller(C). The master device comprises a 4 degree-of-freedom parallel mechanism. The 4 degree-of-freedom parallel mechanism generates a translational motion with one degree of freedom and a rotary motion with three degrees of freedom with being operated by users. The 4 degree-of-freedom parallel mechanism of the slave device generates the translational motion with one degree of freedom and the rotary motion with three degrees of freedom by the operation of the master device. The controller outputs a driving signal of the driving device by receiving an operation signal from the master device to make the slave device operate according to the operation of the master device.;COPYRIGHT KIPO 2012