Robotic manipulator structure

A robotic manipulator structure including a base supporting first and second independently operable drive motors 16 and 18, a first swinging arm rotatably supported by the base and driven from the first drive, a second swinging arm 42 supported for rotation at the end of the first arm for rotation through a plane translationally displaced from the plane through which the first arm rotates, and a mechanism for coupling the rotation of the second drive motor 18 through the hollow shaft 50 concentrically located and rotatable within the hollow shaft 38, and through a sprocket and chain arrangement in the hollow 58 of the first arm to independently effect the rotation of the second arm 42.