Dynamic behavior is an important factor to affect the performance of surgical robot, especially force-feedback master manipulator. In this paper, a force-feedback master manipulator with parallelogram is developed, which can realize self-gravity balance; Compare the dynamics of the force-feedback master manipulator with parallelogram mechanism and another one without parallelogram mechanism. The result shows that the dynamical equation of the master manipulator with parallelogram mechanism is simpler than the one without parallelogram mechanism. This parallelogram mechanism can be generally used in all the mechanical design that is needed to simplify the dynamics.

The braking signal transmitter is a major component of the EBS. The structure and working principle of a braking signal transmitter were introduced. The test bed of the braking signal transmitter was designed and built. The static characteristics of the braking signal transmitter were obtained by analyzing the test data. The inflection points and the slope of each segment curve obtained by the bed test are basically identical to the static characteristic calibration curve. The pressure does not reach the maximum pressure of the static characteristic calibration curve because the gas source pressure does not reach the required test pressure. Keywords: Braking signal transmitter, EBS, static characteristics, bed test.