A mechanical manipulator arm. The manipulator arm comprises a first parallelogram linkage comprising a pair of first long links and a pair of first short links joined together with revolute joints. Short link is mounted on a base and short link is having a first extended straight portion at one end thereof and a second extended straight portion at the other end thereof. A second parallelogram linkage is disposed at the extended straight portion at right angle thereto. The second parallelogram linkage comprises a pair of second long links and a pair of second short links joined together with revolute joints . Short link constitutes a right angled projection projecting upwardly from the extended straight portion . An end effecter is mounted to the short link . A first linear actuator is having its one end mounted on the said base together with long link with a common revolute joint and the other end connected to the second extended straight portion by a revolute joint. A second linear actuator is having its one end connected by a revolute joint to a perpendicular protrusion protruding upwardly from long link disposed remote from the extended straight portion and the other end connected by a revolute joint to a perpendicular projection projecting upwardly from the extended straight portion.
Indian patent application no. 174/MUM/2010
Inventors: C. Amarnath, B. Seth, A. Guha & Abhay Kharande