Patent ID: 7128633
Filing Date: 2006-10-31
Classification: A63H,Y10S

Abstract:
1. A mechanical arm comprising: support means; a first link and a second link, said first link having a proximal end and a distal end, said second link having a proximal end and a distal end; said proximal end of said first link mounted to said support means; said proximal end of said second link pivotally connected to said distal end of said first link for rotation relative thereto about a first pivot axis; a first lever and a second lever, said first lever having a proximal end and a distal end, said second lever having a proximal end and a distal end; an arm assembly comprising said first lever, said second lever, said first link, wherein said distal end of said first lever rigidly connected to said proximal end of said first link, said distal end of said second lever pivotally connected to said proximal end of said first link for rotation relative thereto about a second pivot axis parallel to said first pivot axis; a first shaft having a first end and a second end, wherein said first end being rigidly connected to said proximal end of said second link, a first pulley concentrically fixed to said second end of said first shaft, said second end of said first shaft being pivotally connected to said distal end of said first link for rotation relative thereto about said first pivot axis; a second shaft having a first end and a second end, wherein said first end being rigidly connected to said distal end of said second lever, a second pulley concentrically fixed to said second end of said second shaft, said second end of said second shaft being pivotally connected to said proximal end of said first link for rotation relative thereto about said second pivot axis; a flexible mechanical element coupling said first pulley and said second pulley; a manually actuable end effector connected to said distal end of said second link.