Design of a force feedback tele-operation master manipulator

This paper developed a force feedback master manipulator for remotely operating some slave heavy manipulators. It contains a six-degree of freedom serial mechanism and a handle with three expanded buttons, one trigger and one seesaw potentiometer units. Five joints of the master manipulator are assembled with reducer motor and rotary precision potentiometers and the other is only assembled with a rotary precision potentiometer. In order to produce a certain reflecting force at the handle, the reducer motor at each joint should provide the corresponding torque which is the resultant of three components. One is produced by the motor driving torque. The second part is produced by the gravities of the links after the current link The last part is the friction torque of the reducer motor.