Remote-control manipulators

Claim 1

A REMOTE-CONTROL MANIPULATOR COMPRISING A TRANSVERSE BEAM, MASTER AND SLAVE ARMS PIVOTALLY CONNECTED TO THE BEAM AT SHOULDER JOINTS SPACED AXIALLY OF THE BEAM, A HANDGRIP CARRIED BY THE MASTER ARM, A WORK HANDLER CARRIED BY THE SLAVE ARM, RELATIVELY ROTATABLE CONNECTING RODS EXTENDING AXIALLY ALONG THE ARMS AND THE BEAM AND MECHANICALLY INTERCONNECTING THE HANDGRIP AND THE HANDLER TO CAUSE MOVEMENTS OF THE HANDGRIP TO BE REPRODUCED BY THE HANDLER, A COMPENSATING MECHANISM AT EACH SHOULDER JOINT TO APPLY COMPENSATING ROTARY MOVEMENT TO THE CONNECTING RODS WHEN ARM MOVEMENTS RELATIVE TO THE BEAM ARE MADE, SAID COMPENSATING MECHANISM COMPRISING EPICYCLIC GEARING HAVING PLANETARY GEARS THROUGH WHICH ROTARY MOVEMENTS OF THE CONNECTING RODS ARE TRANSMITTED, A ROTARY CARRIER ON WHICH THE PLANETARY GEARS ARE CARRIED, GEARING CARRIED BY THE ARM AND THE BEAM, AND ADDITIONAL PLANETARY GEARS CARRIED BY THE CARRIER WHICH MESH WITH SAID GEARING CARRIED BY THE ARM AND THE BEAM SO THAT RELATIVE MOVEMENT OF THE ARM AND THE BEAM ABOUT THE SHOULDER JOINT IS REFLECTED BY ROTATION OF THE CARRIER IN THE COMPENSATING MECHANISM.