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File Last modified on: Wed Aug 08, 2012 15:01:39
 

A Mechanical Manipulator Arm

 

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