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

Claim 1:
2. The apparatus as in claim 1 further comprising:
a controller comprising a processor and a non-transitory memory comprising computer code, where the robot drive is coupled to the controller, where the controller is configured to control actuation of the robot drive, where the controller and the transmission are configured to coordinate movement and rotation of the links relative to one another to move the end effectors into and out of one or more stations comprising:
rotating the upper arm about the robot drive, where both the first and second forearms are rotated about the robot drive at a same time, and
rotating the first forearm relative to the upper arm, while the upper arm is rotated about the robot drive, to move the first end effector into an entrance path of one of the one or more stations, where the controller causes the second forearm to not be moved relative to the upper arm while the upper arm is rotated about the robot drive 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.