（2002〜）．Currently, more than 100 million landmines are laid underground all over the world. As this situation, from a humanitarian standpoint there is a great demand for the development of a technology that is to dispose land minds more safety and more certainly. We propose mine disposal arm mounted on a vehicle. As outdoor work like a landmine disposal operation, electric supply is limited. If the stability of a platform mine disposal arm is mounted on come down by the arm’s position, the arm doesn’t fit operations on irregular terrain. We develop weight compensated type mine detection manipulator mounted on vehicles “Field Arm”.

The specifications of "Field Arm" are shown in Table.1. It has the following features:
(1) Shown in Fig.1, this arm is pantograph type link mechanism and the lever ratio is 1:n. When an end-effecter, its load is “F”, is attached on the front edge, the moment is balanced on the point of support by attaching a counter-weight, its load is “nF”, on the back edge. Consequently, arm’s own weight is compensated. In the theoretical sense, arm’s center of gravity doesn’t move and is constantly located on the point of support. Weight compensated effect prevail for the pivot. As operation on inclined plane link Fig.2, the pivot load is small. (2) Considering the center of gravity doesn’t move, arm’s position doesn’t incline its platform.

Photo.1 is shown "Field Arm" mounted on "Gryphon-I".