Patent ID: 11948817
Assignee: APPLIED MATERIALS, INC.
Field: Semiconductors (Electrical engineering)
Classification: CPC H  B | IPC B  H

Claim 9:
10. A method of transferring a substrate, the method comprising:
receiving a substrate at a first substrate support within a transfer region of a substrate processing system, the substrate processing system including a transfer apparatus comprising:
a central hub including a first shaft and a second shaft extending about and concentric with the first shaft,
a first end effector coupled with the first shaft, the first end effector comprising a plurality of first arms, wherein:
the first end effector further comprises a plurality of first end pieces; and
each first end piece of the plurality of first end pieces comprises a first contact member that engages a lateral surface of a substrate, and

a second end effector coupled with the second shaft, the second end effector comprising a plurality of second arms having a number of second arms equal to a number of first arms of the first end effector, wherein:
the second end effector further comprises a plurality of second end pieces; and
each second end piece of the plurality of second end pieces comprises a second contact member that engages the lateral surface of the substrate;

rotating the first shaft in a first direction about a central axis of the central hub;
rotating the second shaft in a second direction about the central axis of the central hub;
applying a force against a lateral surface of the substrate with the first contact member, engaging the lateral surface of the substrate with the first contact member of a first respective arm of the plurality first arms and the second contact member of a second respective arm of the plurality of second arms;
co-rotating the first respective arm and the second respective arm about the central axis to reposition the substrate; and
delivering the substrate to a second substrate support of the substrate processing system.