Patent ID: 11964379
Assignee: PERSIMMON TECHNOLOGIES CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 9:
10. A method of transporting at least one substrate between a first station and a second station, the method comprising:
providing chamber defined by at least one wall, an interior of the chamber defining at least the first station and the second station;
providing a robot extending at least partially into the chamber, the robot comprising,
a first arm comprising a linkage having two links of unequal length and having a first end effector,
a second arm comprising a linkage having two links of equal length and having a second end effector, and
a drive unit coupled to the first arm and the second arm, the drive unit being configured to move the first arm and the second arm,
wherein the first end effector is asymmetric to the second end effector, and
wherein the first end effector is angled relative to the second end effector such that a first substrate support section on the first end effector is not positioned over or under a second substrate support section on the second end effector; and

rotating one or more of the first arm or the second arm about a shaft of the drive unit in a coordinated operation to cause the first or second end effector to pick the at least one substrate from the first station and place the at least one substrate into the second station.