Analysis and design on a kind of new typed structure of 7 DOF data arm

The designing principle and constitution of a new typed data arm with 7 DOF(model BUAA-III) were introduced.The virtual design on spatial structure of data arm and the analysis on degree of freedom of measuring mechanism of data arm had been carried out.This data arm can not only detect the variation of each joint of human arm but at the same time also obtain the angles between every joints of arm and the variation of wrist positions.It possesses functions of force feedback of partial joints,and has already been successfully applied to the simulative control platform of remote operated master-slave data arm in network.