A linkage mechanism for a pick and place robot includes two rotatable
drives mounted on a base and connected to a platform by parallelogram
linkages, one assigned to each drive. Each parallelogram linkage may
include a series of parallelogram linkages connected to one another by a
bell crank that couples drive linkages with location linkages to assure
proper positioning of the mechanism. This arrangements permits movement
of the platform in two dimensions by selective rotation of the drives.
