Parallel Linkage Manipulator With Armrest for Lower Operator Strain

The patent introduces a new spatial dimension by adding an armrest member positioned below the end platform, creating a vertical support structure that allows the operator's elbow to rest at a lower level. This dimensional addition transforms the operating posture from suspended arm position to supported elbow position, reducing strain on upper limb joints while maintaining the original handle attachment configuration.

The armrest member acts as an intermediary element between the operator's body and the manipulating device. By providing a support surface for the elbow, it mediates the mechanical load transmission, allowing the operator's weight to support the arm rather than the hand and wrist muscles having to sustain the arm position against gravity.

The support member creates an equipotential working condition by positioning the third link such that its supported endpoint aligns vertically with the rotation shaft center. This alignment ensures that the operator's shoulder joint center naturally coincides with the rotation shaft center during operation, creating a balanced mechanical configuration that reduces torque requirements and minimizes shoulder strain.

The third link is pre-positioned and supported by the support member before the operator begins manipulation. This preliminary structural arrangement ensures that when the operator grips the handle, their shoulder is already in the optimal aligned position, eliminating the need for corrective posturing or excessive muscular effort to achieve proper alignment during operation.