Master-slave type traditional Chinese leg bone-setting robot

Provided is a master-slave type traditional Chinese leg bone-setting robot. A master-slave type work mode is adopted, a physician operates a master hand, a slave hand moves along with the master hand, broken bone stretching is achieved, the broken bone position is corrected, and broken bones are combined. The slave hand of the robot has six degrees of freedom, specifically, rotation of the waist, rotation of a big arm around a shoulder joint in a vertical plane, rotation of a small arm around an elbow joint in a vertical plane, and three orthogonal rotation movements of a wrist. The robot adopts the lower elbow position, and a clamping paw is a pneumatic paw. The joints are of a modular structure and are divided into coaxial type modules and side-placed type modules according to the relative poses of adjacent rod parts. Each joint is composed of a servo motor, a disc-type harmonic reducer, a pair of engaged straight gears and a crisscross roller bearing. The master hand and the slave hand of the robot are of