Abstract
It is useful to use 3D pantograph mechanism for high tele-operative master-slave because it has large movable range and it is studied well in weight compensation. In this study, we think 4 patterns of mechanisms for master-slave:(1) using hydrogen, (2) using wires, (3) using gears and (4) using linkage mechanism. Finally, we decided to use (4) pattern because by using this total mechanism is smaller and lighter weight than the other methods and it has more stiffness. We used 3D parallel linkage mechanism in order to transmit the forth from master to slave. We also used 3D-chilt mechanism in order to change the motion from pitch to yaw.
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