Patent ID: 11887880
Assignee: PERSIMMON TECHNOLOGIES CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC H  B | IPC B  G  H

Claim 15:
16. A method comprising:
moving an upper arm of a robot arm by a robot drive, where the upper arm is rotated by the robot arm, where the robot arm comprises links including the upper arm, a first forearm connected to a first end of the upper arm, a second forearm connected to a second opposite end of the upper arm, a first end effector rotatably connected to a distal end of the first forearm and a second end effector rotatably connected to a distal end of the second forearm, where the upper arm is substantially rigid such that movement of the upper arm by the robot drive moves both the first and second forearms, where the upper arm comprises a general V shape with a base of the general V shape connected to the robot drive, where the general V shape of the upper arm comprises a first arm section and a second arm section extending from the base at an acute angle relative to each other, where the first end of the upper arm is an end of the first arm section and the second end of the upper arm is an end of the second arm section;
rotating the first forearm on the upper arm, while the upper arm is rotated about the robot drive, to move the first end effector into an entrance path of a station, and where the second forearm is prevented from being moved relative to the upper arm while the first forearm is rotated about the upper arm such that the second forearm is not rotated relative to the upper arm as the first forearm is moved into the entrance path of the station.