Master arm for robot arm training or virtual reality simulation, uses fixed wrist attachment to arm and has three-degrees of freedom in wrist unit, with rotation axes meeting at common point

摘要

The master arm has a wrist (6) held at a constant global inclination to decouple translational control, performed by moving the arm segments (3,4), from rotational control performed by rotating the wrist. The wrist is attached (5) to the end of one arm, and wrist movement is linked by cords (18-22) to a fixed base. Rotation elements in the wrist (7,8,9) have axes meeting at a common point (0).