Abstract：Master arm is a key device for master slave manipulation system (MSMs), It is n ot only to measure the human operator’s arm motion, but also to telepresence the forces the slave arm will receive from the environment during tasks, and is an important man-machine interface for establishing a kinesthetic coupling between operator and telerobot. thus, its performance will directly affect the maneuve rability of MSMs. So far, a variety of master arm designs have been developed for teleoperation, but the evaluation method and evaluation index of master arm have seldom been studied. The unclearness of aim will bring about the blindness of design. In this paper, we attempt to explore it based on our experience of development in master arm and offer the evaluation method and eval uation index of master arm.
[1] Nobuto Matsuhira,Hiroyuki Bamba,Makoto Asakura.The Development of a General Master Arm for TeleoperationConsidering Its Role as a Man-achine Interface.Advanced Robotics,1994,8(4):443－457 [2] Tetsuo Kotoku,Erhard J Huster,Kazuo Tanie,Akio Fujikawa.The Development of a Direct Drive Master Arm.Journalof Robotics and Mechatronics,2(6):463－470 [3] Vertut J.Remarks on Manipulator Classification,And Reversibility-Deflection-Backlash-Inertia-Balance And FrictionTrade off.RO-MAN-SY-76 Warsaw,1976 [4] 顾俊仁.遥控主从机械手.北京:原子能出版社,1982:19－20 [5] Asada H.A Geometrical Representation of Manipulator Dynamics and Its Application to Arm Design.ASME J DynamicSystems,Measurement and Control,1983,105:131－135 [6] Vertut J.Contribution to Define A Dexterity Factor for Manipulator.Proceedings of 21st Conference on Remote SystemsTechnology,1973:38－46 [7] Arocena J I,Daniel R W.Design and Control of Novel 3-DOF Flexible Robot,Part 1:Design and Evaluation.TheInternational Journal of Robotics Research,1998,17(11):1167－1181 [8] Yong K Hwang,Sung C Kang.Human Interface Automatic Planning.Research,1998,17(11):1131－1149 [9] Bejczy A,Salisbury J K.Kinsthetic Coupling Between Operator and Remote Manipulator.Proceedings of theInternational Computer Technology Conference,ASME,1980.197－211
