Patent ID: 8874241

Claim:
A master-slave system using a 4-degree of freedom (DOF) parallel mechanism, comprising: a master device including a 4-DOF parallel mechanism which generates 1-DOF translation and 3-DOF rotation by the manipulation of a user; a slave device including a 4-DOF parallel mechanism which generates 1-DOF translation and 3-DOF rotation according to the movement of the master device; and a controller for receiving a behavior signal generated by the master device and outputting a driving signal to the slave device so that the slave device moves according to the movement of the master device, wherein the master device includes: a master base; an input unit spaced apart from the master base; a spherical mechanism connected between the master base and the input unit so that the input unit makes 3-DOF rotation with respect to the master base; and a translation link unit connected to the input unit so that the input unit makes 1-DOF translation with respect to the master base, wherein the slave device includes: a slave base; a driving unit spaced apart from the slave base; a parallel link unit connected between the slave base and the driving unit so that the driving unit makes 3-DOF rotation and 1-DOF translation with respect to the slave base; and a guide link unit for guiding the translation of the driving unit.