Drive mechanism and its application to a position remote control for a master-slave manipulator

摘要

the invention relates to an actuating device (10) and its application to control of position for a master slave manipulator.;the device includes a housing in which is housed an electric motor (16) with little or no reversible reducing mechanism (20), and a torsion bar (42) between the led (22) of the mechanicalems (44a), a set of application external to the housing.potentiometers (48, 50) can be used to detect the position of the party led by the housing and the force applied to the torsion bar.thus, it is possible to give a good mechanism of artificial nature, reversible.;application to robot motion control, and the realization of the arm note lying miniaturized master, master slave manipulators with force feedback without cable or strap.the control arm and heavy.