To provide a lightweight wrist mechanism for a master arm which can correctly transmit the torque generated by a slave arm to a steering operator irrespective of the direction.
This wrist mechanism comprises an arm joining part 1 having a connection mechanism 14 to an arm, a first side beam 12 and a second side beam 13, and a grip part 31 supported between two side beams by connecting an end part to a space between the first and second side beams by a first link mechanism 32 and a second link mechanism 33. The link mechanisms 32 and 33 comprise first links 34 and 35 and second links 36 and 37 turnably connected to each other by second turning shafts 40 and 41. One end of the first links is turnably connected to the side beams by first turning shafts 38 and 39, and one end of the second links is turnably connected to one end of the grip part by a third turning shaft 42. Extensions of the first and second turning shafts pass in the vicinity of the center O of rotation corresponding to the position of the gripping position.
FUJIMORI JUN
IENAKA RYOTA
| JPH0857783A | 1996-03-05 | |||
| JP2000246679A | 2000-09-12 |