Cruelity by Wife

I am married for 7 years and have a daughter of 4.5 years. This was a family arranged marriage. Right after the marriage, we had a lot of difference due to my abusing me and my parents and at many occasions, both me and my wife as asked for a divorce with our parents. But every time our parents used to convince us to stay together. In fact me as well tried for different methods to ensure there are no differences, like adjusting to the verbal abuse of my parents, not responding to verbal abuse of me and following whatever my wife desires.This gradually led to my wife being more bold and commanding. Not she abuses me for 2-3 hours if I come home 30 minutes late from office or do not wash the cloths or miss on dropping the child on time to school. If I respond during during these abuses she starts to hit me. Me and wife had physical contact for only 4-5 time post our marriage.Even if I approach she always denies them for past 4 years. She earns a salary of 1.8 LPA and I earn around 26 LPA. The only reason for which I have kept on adjust all these year has been the love for my child. I do not want to leave her and though she is ready for divorce she does not want to leave the child's custody with me and even deny me visitation rights to the child. Most recent incidence of big quarrel happened yesterday, where is was abusing me for not getting promotion and was commanding me on when to go to office and when to come back irrespective of my job responsibilities to which i responded that it is not possible. This time my wife's parent re also in house. For responding she abused me and my parents the entire night of 15th. Again without responding further, I got up next morning and got ready my kid for school and was leaving along with my kid for office ignoring the small burst of comments from my wife. My wife and her blocked the door and took off my laptop bag threw it and commanded that I should return after dropping the kid to school. I denied and the quarrel grew. After explaining the situation being faced by me all these year to her parents, I asked them to please allow for divorce. Initially they were asking me to stay in the same state but when I went rigid that it is no longer possible and I want a divorce, They started framing false allegation against my family and me. and since I knew very well neither me nor my family has done anything wrong in past I said to them that they free to spread whatever rumors they want and nobody would believe them and left for office. Then her parent called up my parent and mentioned the incidence in a twisted manner. When I came back from office again my wife started the quarrel and when I asked her parents why they have made false allegations. They again started their drama. Please advise how can I get separated and have the custody of child ( If custody is not possible, at least joint custody of child )