DESC:FIELD OF INVENTION
The present invention relates to a servo manipulator. More particularly, the present invention relates to a servo manipulator with force feedback along with azimuth rotation, vertical, cross and longitudinal movements of both arms. Advantageously, the present invention relates to the servo manipulator with high flexibility.

DESCRIPTION OF PRIOR ART
Generally a manipulator is a device which has master and slave units. Both master and slave units have two arms resembling that of human arms. Each arm has Shoulder, Elbow, Wrist and Gripper. Shoulder, Elbow and Wrist each has two movements i.e. elevation and rotation (also called two degree of freedom). Gripper has clamp/declamp (i.e. One degree of freedom). Totally each arm has 7 degrees of freedom.

Generally, manipulators are used to do various operations inside radiation chamber, which has a wall thickness of about 1 meter. Master arms are placed outside the hot cell (nuclear chamber) and slave arms are placed inside the hot cell with a wall in between. These slave arms replicate the movements of the master arms and are a substitute for human arms to perform various operations inside the hot cell. Presently, in mechanical manipulators slave arms are connected to master arms through wires and ropes. Rubber boots are used as sealants to avoid radiation leakage, apart from regular sealant materials. The slave arms are operated using master arms by viewing through a special glass window.

This arrangement has the following disadvantages:
• Operator has to stand adjacent to the wall of radiation chamber.
• Fear of risk of radiation leakage.
• Do not have flexibility of rotation of both arms
• Do not have vertical, cross and longitudinal movement of both arms as they are fixed in a particular position.

Accordingly, there exists a need for a servo manipulator with force feedback. Further there exists a need for a servo manipulator with azimuth rotation, and vertical, cross and longitudinal movements of both arms.

OBJECTS OF INVENTION
It is primary object of the present invention to provide a servo manipulator with force feedback.

It is another object of the present invention to provide a servo manipulator with azimuth rotation for both arm rotation with a wide range of angle +/-170 degree, vertical, cross and longitudinal movements.
It is another object of the present invention, wherein the movements of slave arms are free from vibration and hunting.

It is another object of the present invention, wherein the force feedback is effective in camming operation.

It is another object of the present invention, wherein the slave unit can be moved to any position inside the radiation chamber with cross and longitudinal movement and can replace many fixed mechanical manipulators due to flexibility.

SUMMARY OF INVENTION
One or more of the problems of the conventional prior art may be overcome by various embodiments of the present invention.

It is the primary aspect of the present invention to provide a servo manipulator [100] for material handling, comprising of:
a master unit [2] with one or more arms;
a slave unit [1] with one or more arms;
one or more motors;
a display unit;
a hand held unit;
one or more cables;
one or more controllers; and
one or more cameras,
wherein the master arms and the slave arms have each 7 degree of freedom,
wherein the 7 degree of freedom comprises of a shoulder elevation [6], a shoulder rotation [5], an elbow elevation [20], an elbow rotation [21], a wrist elevation [22], a wrist rotation [23] and a gripper opening and closing,
wherein the slave arm comprises of an azimuth rotation [19] of both arms with a wide angle of +/- 170°, a vertical slide [18] for upward and downward movement with a stroke range of 60cms to 1m working on telescopic mechanism, and cross slides and longitudinal slides,
wherein the lengthy cables are provided from a control cabinet near to the master arm to the slave unit [1] for user to have control of slave arms from a remote distance,
wherein the master unit [2] is configured to be remotely placed away from the slave unit [1],
wherein the movements of the slave arm are controlled by one or more servo motors or one or more harmonic drives driven by one or more servo drives,
wherein the feedback devices from the master arm are connected to the respective drives to enable the master and slave control,
wherein the gripper opening and closing is functioned by the torque motor and has adjustable holding force and operates on force feedback mechanism,
wherein the feedback for weight of the item being lifted at the slave arm are obtained by strain gauges embedded on the wrist housing as signals,
wherein the signals are amplified and connected to the geared motor operated in the torque mode at the master side through the drive,
wherein the amplified signals are used for weight feedback at the master arm in the ratio 1:1 or in scaled down mode,
wherein the servo manipulator is configured to operate in modes comprising of reference mode, jog mode, coupled mode and zeroing mode, and
wherein the weight of the material handled at slave arm is felt in the ratio of 1:1 or scaled down.

It is another aspect of the present invention, wherein each master arm comprises of a frame [3], a brake unit assembly [4], the shoulder rotation [5], the shoulder elevation [6], an elbow module [7] with the elbow rotation [21] and the elbow elevation [20 ], a wrist module [9] with the wrist rotation [23] and the wrist elevation [22], a hand grip [8], and a swivel base and link assembly [12], a brake motor assembly [11].

It is another aspect of the present invention, wherein each slave arm comprises of a shoulder assembly [15], an elbow assembly [16], a wrist module assembly [20], a gripper actuator assembly [13], a cross slide assembly [14, a vertical slide assembly [18] and an azimuth rotation assembly [19].

It is another aspect of the present invention, wherein the slave arms are operated by viewing through the monitor fixed on the master unit [2].

It is another aspect of the present invention, wherein the gripper actuator assembly [13] has adjustable holding force configured to change the gripper force in proportion to the weight of the object held across respective master arms.

It is another aspect of the present invention, wherein the gripper movement comprises of opening and closing with one degree of freedom, with an opening range of gripper ranging from 0-90mm.

It is another aspect of the present invention, wherein in reference mode, the slave arms are referenced to synchronize with the master arms positioned to a selected angle.

It is another aspect of the present invention, wherein the jog mode comprises of independent movement of each joint or degree of freedom using a selector and push button combination for clockwise and counterclockwise selection for rotation, upward and downward selection for elevation and open and close for grippers.

It is another aspect of the present invention, wherein the individual joints or degree of freedom is extended beyond the reach of operation by the master arm in jog mode.

It is another aspect of the present invention, wherein the movement of the slave arm is synchronized with respect to master and individual joint follows the joints of the master arm position in coupled mode.

It is another aspect of the present invention, wherein a single push button control synchronizes all joints of slave arm with respect to master, when moving the slave arm in jog mode or for any mismatch with respect to master arm (zeroing).

It is another aspect of the present invention, wherein the degree of freedom for shoulder elevation is +60 degree (up) and -90 degree (down) and degree of freedom for shoulder rotation is + / - 45 degree.

It is another aspect of the present invention, wherein the elbow is elevated by +90 degree (up), -45 degree (down) and the elbow is rotated by + / - 170 degree.

It is another aspect of the present invention, wherein the wrist is elevated by +120 degree (up), -45 degree (down) and the wrist is rotated by + / - 170 degree.

It is another aspect of the present invention, wherein the master arm comprises of one or more encoders for the shoulder elevation, the shoulder rotation, the elbow elevation, the elbow rotation, the wrist elevation and the wrist rotation.

It is another aspect of the present invention, wherein the movements of the slave arms which include shoulder elevation and rotation, elbow elevation and rotation, wrist elevation and azimuth are controlled using servo motors with built-in Gear heads and built in brakes.

It is another aspect of the present invention, wherein the wrist rotation and gripper have motor with stator and rotor construction, hall sensors and encoder for wrist rotation.

It is another aspect of the present invention, wherein the hand held unit comprises of an Emergency Push Button, a Reset push button, an arm selector switch, a mode selector switch, an actuator selector to select various joints, and one or more push buttons for controlling azimuth, vertical and cross slide.

It is another aspect of the present invention, wherein the wherein the force feedback mechanism comprises the communication of gripper force and weight of material handled at slave arm to the master arm and is configured to vary gripper force between 1 kgf to 80 kgf.

It is another aspect of the present invention, wherein the material comprises of material in radioactive zone, nuclear reactors or the like radiation chamber.

BRIEF DESCRIPTION OF THE DRAWINGS:
So that the manner in which the features, advantages and objects of the invention, as well as others which will become apparent, may be understood in more detail, more particular description of the invention briefly summarized above may be had by reference to the embodiment thereof which is illustrated in the appended drawing, which form a part of this specification. It is to be noted, however, that the drawing illustrate only a preferred embodiment of the invention and is therefore not to be considered limiting of the invention's scope as it may admit to other equally effective embodiments.
Figure 1: illustrates the schematic view of the servo manipulator according to one embodiment of the present invention.
Figure 2: illustrates the perspective view of the master unit of the servo manipulator with two arms according to one embodiment of the present invention.
Figure 3: illustrates the perspective view of the slave unit of the servo manipulator with two arms according to another embodiment of the present invention.
Figure 4: illustrates the schematic view of the servo manipulator according to another embodiment of the present invention.
Figure 5: illustrates the circuit line diagram of the servo manipulator according to another embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION
It is to be understood that the present disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The present disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting.

The present invention relates to a servo manipulator with force feedback. The Servo Manipulators have in addition to two arms each with 7 degree of freedom, Azimuth rotation for both arm rotation with a wide range of angle +/-170 degree, vertical, cross and longitudinal movements.

The present invention relates to a servo manipulator [100] for material handling, comprises of a master unit [2] with one or more arms, a slave unit [1] with one or more arms, one or more motors, a display unit, a hand held unit, one or more cables, one or more controllers and one or more cameras.

Referring to figure 1, the schematic view of the servo manipulator according to one embodiment of the present invention is illustrated. The servo manipulator [100] for material handling comprises of a master unit [2] with one or more arms, a slave unit [1] with one or more arms. The master arms and the slave arms have each 7 degree of freedom. Referring to Figure 4, the schematic view of the servo manipulator according to another embodiment of the present invention is illustrated. 7 degree of freedom comprises of a shoulder elevation [6], a shoulder rotation [5], an elbow elevation [20], an elbow rotation [21], a wrist elevation [22], a wrist rotation [23] and a gripper opening and closing, The slave arm comprises of an azimuth rotation [19] of both arms with a wide angle of +/- 170°, a vertical slide [18] for upward and downward movement with a stroke range of 60cms to 1m working on telescopic mechanism, and cross slides and longitudinal slides. The lengthy cables are provided from a control cabinet near to the master arm to the slave unit [1] for user to have control of slave arms from a remote distance. The master unit [2] is configured to be remotely placed away from the slave unit [1]. The movements of the slave arm are controlled by one or more servo motors or one or more harmonic drives driven by one or more servo drives.

The feedback devices from the master arm are connected to the respective drives to enable the master and slave control. The gripper opening and closing is functioned by the torque motor and has adjustable holding force and operates on force feedback mechanism. The feedback for weight of the item being lifted at the slave arm is obtained by strain gauges embedded on the wrist housing as signals. The signals are amplified and connected to the geared motor operated in the torque mode at the master side through the drive. The amplified signals are used for weight feedback at the master arm in the ratio 1:1 or in scaled down mode.

The servo manipulator is configured to operate in modes comprising of reference mode, jog mode, coupled mode and zeroing mode. The weight of the material handled at slave arm is felt in the ratio of 1:1 or scaled down.

Referring to Figure 2, the perspective view of the master unit of the servo manipulator with two arms according to one embodiment of the present invention is illustrated. Each master arm comprises of a frame [3], a brake unit assembly [4], the shoulder rotation [5], the shoulder elevation [6], an elbow module [7] with the elbow rotation [21] and the elbow elevation [20 ], a wrist module [9] with the wrist rotation [23] and the wrist elevation [22], a hand grip [8], and a swivel base and link assembly [12], a brake motor assembly [11].

Referring to Figure 3, the perspective view of the slave unit of the servo manipulator with two arms according to another embodiment of the present invention is illustrated. Each slave arm comprises of a shoulder assembly [15], an elbow assembly [16], a wrist module assembly [20], a gripper actuator assembly [13], a cross slide assembly [14, a vertical slide assembly [18] and an azimuth rotation assembly [19]. The slave arms are be operated by viewing through the monitor fixed on the master unit [2]. The gripper actuator assembly [13] has adjustable holding force configured to change the gripper force in proportion to the weight of the object held across respective master arms.
The gripper movement comprises of opening and closing with one degree of freedom, with an opening range of gripper ranging from 0-90mm. In reference mode, the slave arms are referenced to synchronize with the master arms positioned to a selected angle. The jog mode comprises of independent movement of each joint or degree of freedom using a selector and push button combination for clockwise and counterclockwise selection for rotation, upward and downward selection for elevation and open and close for grippers. The individual joints or degree of freedom is extended beyond the reach of operation by the master arm in jog mode. The movement of the slave arm is synchronized with respect to master and individual joint follows the joints of the master arm position in coupled mode.

A single push button control synchronizes all joints of slave arm with respect to master, when moving the slave arm in jog mode or for any mismatch with respect to master arm (zeroing). The degree of freedom for shoulder elevation is +60 degree (up) and -90 degree (down) and degree of freedom for shoulder rotation is + / - 45 degree. The elbow is elevated by +90 degree (up), -45 degree (down) and the elbow is rotated by + / - 170 degree. The wrist is elevated by +120 degree (up), -45 degree (down) and the wrist is rotated by + / - 170 degree. The master arm comprises of one or more encoders for the shoulder elevation, the shoulder rotation, the elbow elevation, the elbow rotation, the wrist elevation and the wrist rotation.

The movements of the slave arms which include shoulder elevation and rotation, elbow elevation and rotation, wrist elevation and azimuth are controlled using servo motors with built-in Gear heads and built in brakes. The wrist rotation and gripper have motor with stator and rotor construction, hall sensors and encoder for wrist rotation. The hand held unit comprises of an Emergency Push Button, a Reset push button, an arm selector switch, a mode selector switch, an actuator selector to select various joints, and one or more push buttons for controlling azimuth, vertical and cross slide. The force feedback mechanism comprises the communication of gripper force and weight of material handled at slave arm to the master arm and is configured to vary gripper force between 1 kgf to 80 kgf.

Apart from above, Slave arm has Azimuth for both arm rotation with a wide angle of +/-170 degree, vertical slide for up and down movement of both arms with a stroke of 600mm and with three stage telescopic construction, cross slide and provision for longitudinal slides. Lengthy cables are provided from control cabinet to slave unit for customer to have longitudinal rails up to 20 meters (suitable motor and controls are customer’s scope).

Master arms unit can be placed at a remote place, away from slave unit, providing additional safety for the operator, free from radiation effect. It has wheels for easy mobility.
Movements of slave arms which include shoulder elevation & rotation, elbow elevation & rotation, wrist elevation and azimuth are controlled using Harmonic BLDC servo motors with high accuracy built-in Gear heads and built in brakes. Wrist rotation and gripper have BLDC motor with stator & rotor construction, hall sensors and high resolution encoder for wrist rotation. Both wrist rotation and gripper motors are operated in torque mode. All motors are driven by state of the art technology servo amplifiers. Master arm joints are provided with high resolution encoders for better synchronization and with brakes. Movement of slave unit inside the radiation chamber can be viewed through large monitor placed on the master unit. Wide angle zoom cameras are provided on the front and on the sides of the manipulator and are viewed on the monitor.

Servo Manipulator Slave can be moved to any position inside the radiation chamber with cross and longitudinal movements and can replace many fixed mechanical manipulators due to high flexibility.

Referring to figure 5, the circuit line diagram of the servo manipulator according to another embodiment of the present invention is illustrated. The servo manipulator has “FORCE FEED BACK”. The weight of the object lifted at each arm can be felt by the person who is operating the master arm. These weights are also displayed on a digital panel meter in kg. The Grippers have “Adjustable holding force” to hold various items such as Glass, Plastic, Wood, Steel etc. and the gripper force can be varied steplessly from 1kgf to 80kgf(can further be increased depending upon the requirement ). Gripper forces are also displayed in kgf on a separate Digital meter and also proportionately felt at the master arm. Both Weight and Gripper force effect at the master arms can be scaled to reduce fatigue of the operator at ease.

Strain gauges are embedded on both the slave arms to get exact weight of the item being lifted. These are conditioned and displayed for exact reading in kg and also converted to mechanical force to get effect of weight being lifted on master arm. Variable torque of the gripper motors ensures variable holding force. These gripper forces are also calibrated and displayed 1:1 using digital display units in kgf. These are again converted to mechanical force and are sensed at the master gripper.

All motions of slave arm are finely tuned to achieve movements free from vibration and hunting. Strokes and other parameters are as per drawing number IGC/GRIP/RRHS/SM/02-1/2 & 2/2 as enclosed. Control system is developed with high degree of flexibility. Slave unit can be controlled in various modes. Customized, flexible hand held unit is provided to perform various operations such as Reference, jog & coupled. Apart from these, Azimuth, vertical, cross slide movements can also be controlled using Hand held unit.

Customized Hand held unit with long cable is provided to operate slave arms from various positions. The hand held unit comprises an Emergency Push Button, a Reset push button, an Arm selector switch, a Mode selector switch, an Actuator selector to select various joints, set of push buttons for controlling Azimuth, vertical and cross slide. Push button is also provided for Acknowledging various functions. The Emergency Push button is required to disable movements of all joints in the event of emergency or when movement to be inhibited. The Reset Push button is used to reset Drives in the event of fault. It is common for all drives. The Arm Selector switch is used to select left or right arm for reference or jog movements. The Mode selector switch is used to select various modes of operations such as reference, jog and coupled. The Actuator selector switch is used to select various joints such as shoulder elevation, shoulder rotation, elbow elevation, elbow rotation, wrist elevation, wrist rotation and gripper. Along with arm selection, required joint of any arm can be moved in various modes as per mode selector switch. Push buttons: Individual controls are provided for Azimuth rotation in clock wise & counter clock wise directions, Vertical slide up & down, cross slide forward & reverse. The Acknowledge Push button is used to acknowledge mode of operation and respective joints required for movement in jog and reference modes.

Three modes of operations are possible with servo manipulator. Reference Mode: In this mode, master arms are positioned to the known angle and slave arms can be referenced to match master arm. This is required for synchronizing master and slave arms for coupled or synchronized operation. Software limits are also assigned. Usually, referencing is required only once after “power on”. Jog Mode: In this mode, each joint (or degree of freedom) on slave arm can be moved using push button control. CW / UP / OPEN push button is used to rotate shoulder, elbow & wrist in clock wise direction and upward movement for shoulder elevation, elbow elevation & wrist elevation. Also, for gripper open depending upon actuator selection and arm selection. Similarly, CCW / DOWN / CLOSE push button is used for counter clockwise, downward movement of rotary & vertical joints respectively and for gripper closing. In jog mode, it is possible to move individual joints beyond reach of operation through master arms in coupled mode. Gripper movements are provided with variable holding torque from 1 kgf to 80 kgf.

Coupled operation: In this mode, movement of slave arm is synchronized with respect to master. Individual joint of slave arm will follow that of the master arm position. Foot switch is provided on the master side for each arm to enable coupled motion. Pressing of foot switch also releases all brakes of the corresponding arm to enable master & slave movements. Mechanical stoppers are provided on the master arm joints to restrict the movement of slave in coupled motion. However, Slave arm joints have additional flexibility to move in jog mode. Software limits are provided in both directions for each joint along with mechanical stoppers. Force feedback is effective in coupled operation.

Zeroing: Additional facility is provided with a single push button control to synchronize all joints of slave arm with respect to master, In the event of moving the slave arm in jog mode or for any mismatch with respect to master. Pressing this push button automatically synchronizes with that of master arms. As a pre-condition, it is required to select required arm on HHU with foot switch pressed.

The material comprises of material in radioactive zone, nuclear reactors or the like radiation chamber. All movements of slave arm are controlled using high torque servo motors driven by servo amplifiers and are connected to master arms electrically. Cameras are provided to view the surrounding area of slave arm and slave arms can be operated by seeing through the wide screen monitor fixed on the master unit.

Servo Manipulator Slave can be moved to any position inside the radiation chamber with cross and longitudinal movement and can replace many fixed mechanical manipulators due to flexibility.

The weight of the object lifted at each slave arm can be felt by the person who is operating the master arm. The Grippers have “adjustable holding force” to hold various items such as Glass, Plastic, Wood, Steel etc. and the gripper force can be varied steplessly from 1kgf to 80kgf (can further be increased depending upon the requirement). Both Gripper forces are displayed in kgf and also proportionately felt at the master arm.

Each Slave arm has Shoulder elevation, Shoulder rotation, Elbow elevation, Elbow rotation, Wrist elevation, Wrist rotation and Gripper (Total 7 degree of freedom per arm). Apart from these, both arms are connected with a swiveling mechanism called Azimuth. Also, it has Vertical slide for up and down movement of both the arms, cross slide and longitudinal slide (customer’s scope). Except for Wrist rotation and Gripper, all movements of arms and Azimuth have Harmonic Drive motors with Gear head. Wrist rotation and Gripper have BLDC motors with stator & Rotor assembly. Vertical and cross slide are with servo motors of Maccon Make.

Master arm has Zettlex encoders for Shoulder elevation, Shoulder rotation, Elbow elevation, Elbow rotation, Wrist elevation and Wrist rotation. Grippers are provided with Maxon motors to get force feedback. Also, Wrist Elevation is connected to set of maxon motors for achieving force feedback.

Electrical circuit diagram clearly indicates the hardware elements, safeties is provided and the connection. Description of all elements indicated in the drawing is also represented on the respective elements inside cabinet box. All motors are on slave side are driven by Copley controllers of similar type. They are hardware compatible each controller is provided with individual miniature circuit breakers of suitable capacity to provide safety for the motor. The ratings and element numbers are indicated in sheet number 01. Also for Maxon motor used on the master side, EPOS controllers are used as show in the drawing. All Copley controllers required 220V, single phase AC power supply and EPOS controllers required 24V DC supply.

PLC, CPU, inputs, outputs, breaks and EPOS controllers require 24V DC supply. Separate regulated power supply is used for break on master side and for slave side along with other inputs and outputs. The same along with cabinet elimination and cooling (Fan).

Controller Connection, complete, including Zettlex encoder, resolver, motor , break, mode selection and enable signals for Shoulder elevation , Shoulder rotation, Elbow elevation, Elbow rotation, Wrist elevation and Wrist rotation are shown in circuit 3a. similarly connection diagram for wrist rotation and gripper, Azimuth rotation and vertical, cross slides are show in sheet number 3B to 3D respectively.

Specifications of the servo manipulator:
Pay load 15Kg
Long travel (L.T) 4800mm
Cross travel (C.T) 1200mm
Vertical motion 600mm
Azimuth +/-170°
Shoulder rotation +/-45°
Shoulder elevation +60°/-90°
Elbow elevation +90°/-45°
Elbow rotation +/-170°
Wrist rotation +/-170°
Wrist elevation +120°/-45°
Gripper opening 90mm
Dimension of servo manipulator with fully collapsed condition 1375mm
Dimension of servo manipulator with fully extended condition 2830mm
Advantages:
• Master can be placed at a remote place (about 20 meters away). Cameras are fixed to view the area surrounding slave unit and are displayed on a wide screen.
• Risk of leakage is avoided due to fixed small bunch of cables.
• Highly flexible to operate and can replace many fixed manipulators due to mobility along cross and longitudinal travel apart from vertical movement and azimuth rotation.
• Both Weight and Gripper force can be felt effectively at the master arms, along with actual value on LED display.

Although the invention has been described and illustrated with respect to the exemplary embodiments thereof, it should be understood by those skilled in the art that the foregoing and various other changes, omissions and additions may be made therein and thereto, without parting from the spirit and scope of the present invention. ,CLAIMS:WE CLAIM:
1. A servo manipulator [100] for material handling, comprising of:
a master unit [2] with one or more arms;
a slave unit [1] with one or more arms;
one or more motors;
a display unit;
a hand held unit;
one or more cables;
one or more controllers; and
one or more cameras,
wherein the master arms and the slave arms have each 7 degree of freedom,
wherein the 7 degree of freedom comprises of a shoulder elevation [6], a shoulder rotation [5], an elbow elevation [20], an elbow rotation [21], a wrist elevation [22], a wrist rotation [23] and a gripper opening and closing,
wherein the slave arm comprises of an azimuth rotation [19] of both arms with a wide angle of +/- 170°, a vertical slide [18] for upward and downward movement with a stroke range of 60cms to 1m working on telescopic mechanism, and cross slides and longitudinal slides,
wherein the lengthy cables are provided from a control cabinet near to the master arm to the slave unit [1] for user to have control of slave arms from a remote distance,
wherein the master unit [2] is configured to be remotely placed away from the slave unit [1],
wherein the movements of the slave arm are controlled by one or more servo motors or one or more harmonic drives driven by one or more servo drives,
wherein the feedback devices from the master arm are connected to the respective drives to enable the master and slave control,
wherein the gripper opening and closing is functioned by the torque motor and has adjustable holding force and operates on force feedback mechanism,
wherein the feedback for weight of the item being lifted at the slave arm are obtained by strain gauges embedded on the wrist housing as signals,
wherein the signals are amplified and connected to the geared motor operated in the torque mode at the master side through the drive,
wherein the amplified signals are used for weight feedback at the master arm in the ratio 1:1 or in scaled down mode,
wherein the servo manipulator is configured to operate in modes comprising of reference mode, jog mode, coupled mode and zeroing mode, and
wherein the weight of the material handled at slave arm is felt in the ratio of 1:1 or scaled down.

2. The servo manipulator [100] for material handling as claimed in claim 1, wherein each master arm comprises of a frame [3], a brake unit assembly [4], the shoulder rotation [5], the shoulder elevation [6], an elbow module [7] with the elbow rotation [21] and the elbow elevation [20 ], a wrist module [9] with the wrist rotation [23] and the wrist elevation [22], a hand grip [8], and a swivel base and link assembly [12], a brake motor assembly [11].

3. The servo manipulator [100] for material handling as claimed in claim 1, wherein each slave arm comprises of a shoulder assembly [15], an elbow assembly [16], a wrist module assembly [20], a gripper actuator assembly [13], a cross slide assembly [14, a vertical slide assembly [18] and an azimuth rotation assembly [19].

4. The servo manipulator [100] for material handling as claimed in claim 1, wherein the slave arms are be operated by viewing through the monitor fixed on the master unit [2].
5. The servo manipulator [100] for material handling as claimed in claim 1, wherein the gripper actuator assembly [13] has adjustable holding force configured to change the gripper force in proportion to the weight of the object held across respective master arms.

6. The servo manipulator [100] for material handling as claimed in claim 5, wherein the gripper movement comprises of opening and closing with one degree of freedom, with an opening range of gripper ranging from 0-90mm.

7. The servo manipulator [100] for material handling as claimed in claim 1, wherein in reference mode, the slave arms are referenced to synchronize with the master arms positioned to a selected angle.

8. The servo manipulator [100] for material handling as claimed in claim 1, wherein the jog mode comprises of independent movement of each joint or degree of freedom using a selector and push button combination for clockwise and counterclockwise selection for rotation, upward and downward selection for elevation and open and close for grippers.

9. The servo manipulator [100] for material handling as claimed in claim 8, wherein the individual joints or degree of freedom is extended beyond the reach of operation by the master arm in jog mode.

10. The servo manipulator [100] for material handling as claimed in claim 1, wherein the movement of the slave arm is synchronized with respect to master and individual joint follows the joints of the master arm position in coupled mode.

11. The servo manipulator [100] for material handling as claimed in claim 1, wherein a single push button control synchronizes all joints of slave arm with respect to master, when moving the slave arm in jog mode or for any mismatch with respect to master arm (zeroing).

12. The servo manipulator [100] for material handling as claimed in claim 1, wherein the degree of freedom for shoulder elevation is +60 degree (up) and -90 degree (down) and degree of freedom for shoulder rotation is + / - 45 degree.

13. The servo manipulator [100] for material handling as claimed in claim 1, wherein the elbow is elevated by +90 degree (up), -45 degree (down) and the elbow is rotated by + / - 170 degree.

14. The servo manipulator [100] for material handling as claimed in claim 1, wherein the wrist is elevated by +120 degree (up), -45 degree (down) and the wrist is rotated by + / - 170 degree.

15. The servo manipulator [100] for material handling as claimed in claim 1, wherein the master arm comprises of one or more encoders for the shoulder elevation, the shoulder rotation, the elbow elevation, the elbow rotation, the wrist elevation and the wrist rotation.

16. The servo manipulator [100] for material handling as claimed in claim 1, wherein the movements of the slave arms which include shoulder elevation and rotation, elbow elevation and rotation, wrist elevation and azimuth are controlled using servo motors with built-in Gear heads and built in brakes.

17. The servo manipulator [100] for material handling as claimed in claim 1, wherein the wrist rotation and gripper have motor with stator and rotor construction, hall sensors and encoder for wrist rotation.

18. The servo manipulator [100] for material handling as claimed in claim 1, wherein the hand held unit comprises of an Emergency Push Button, a Reset push button, an arm selector switch, a mode selector switch, an actuator selector to select various joints, and one or more push buttons for controlling azimuth, vertical and cross slide.

19. The servo manipulator [100] for material handling as claimed in claim 1, wherein the force feedback mechanism comprises the communication of gripper force and weight of material handled at slave arm to the master arm and is configured to vary gripper force between 1 kgf to 80 kgf.

20. The servo manipulator [100] for material handling as claimed in claim 1, wherein the material comprises of material in radioactive zone, nuclear reactors or the like radiation chamber.