Design Of Master Manipulator Of Master-slave Telecontrol Robot Based On The Internet

In recent years, master-slave telecontrol robotics has become the research focus in the robot control and application fields. This technique has been widely applied, including remote surgery, space operation, dangerous operation, etc. The function of master-slave telecontrol robot is to control the slave manipulator in distance by master manipulator to finish operation task. In the system of the master-slave telecontrol robot, master device is the pivotal equipment.Master manipulator is the man-machine interface in the master-slave telecontrol robot system. Operator controls slaving manipulator perform high precision positioning by operating master manipulator. Master manipulator design is one of the most important issues in maneuverability, transparence and stability of the system. Therefore high performance master manipulator with control system can insure finish master-slave telecontrol robotics with high accuracy. This dissertation is the basis and an important part of the projection of the design of master manipulator of master-slave telecontrol robot based on the INTERNET. On the basis of consulting a lot of documents, this thesis puts concentration on fundamental study and uses self-made 6-DOF master manipulator as control device. Aiming at the aspects of slave manipulator, a self-balance Descartes reference frame 6-DOR master mechanism were developed in the dissertation. Based on that, the driving and control system was developed. The whole mechanism has a light weight, small volume and inertia, flexible motion. Kinematics is the foundation of mechanical design of master, and also the foundation of system control and performance analysis. This paper involves study on forward position of the new self-balance master of 6-DOR.With the development of technology of the computer and large scale...