master slave handhabungsvorrichtung with six degrees of freedom

摘要

PCT No. PCT/FR96/01849 Sec. 371 Date Dec. 14, 1998 Sec. 102(e) Date Dec. 14, 1998 PCT Filed Nov. 21, 1996 PCT Pub. No. WO97/18927 PCT Pub. Date May 29, 1997A "master-slave" remote manipulation apparatus having six degrees of freedom. The apparatus includes a flexible parallelogram with two parallel arms hinged to a cross member with one degree of rotational freedom and to a frame with two degrees of rotational freedom; two parallel-hinged "master" and "slave" devices at the end of each respective arm; and five two-way linear motion transmitting devices between the "master" and "slave" devices.