Telerobot has been given more and more attention and research because it can replace human in dangerous environment.Universal master manipulator can improve the performance and work efficiency.

• 遥操作机器人由于可以代替人在极限环境下进行作业而受到越来越多的重视和研究，通用型主手对于提高遥操作机器人的操作性能和工作效率具有十分重要的意义。