The second prototype design of the upper body of Archie

:In this paper, we have shown the second prototype design of the upper body of Archie, and we have discussed the dimensions giving calculated values of length of links, the weight and centre of weight of these links. During the design of second prototype, we have taken into account mechanical requirements, simplicity of the design, price, the natural appearance and design to be in accordance with the design of the lower part of the robot (which existed). A simulation refers to behaviour of mechanical structure of design, through graphs obtained through SimMechanics tool.