2013
DOI: 10.4028/www.scientific.net/amm.418.3
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Design of a Master Manipulator with Dynamical Simplification for Master-Slave Robot

Abstract: 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 … Show more

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