Patent ID: 9287149
Filing Date: 2016-03-15
CPC Classification: B25J,H01L

Claim Text:
1. A wafer handling robot comprising: a body, an arm having a drive link and at least one driven link coupled thereto, the drive link being rotatably connected to the body and an arm end being defined on the at least one driven link, a constraint point mounted on the body such that the constraint point is not movable relative to the body while the wafer handling robot is transferring a wafer, a semiconductor wafer holder attached to the arm end, and an actuator configured to rotate the drive link, wherein: the arm further includes a link mechanism configured to restrict motion of the arm end, caused by rotation of the drive link, to a straight or curved trajectory; the at least one driven link is engaged with the constraint point, such that said at least one driven link is slidable relative to the constraint point along a longitudinal direction of the at least one driven link; a starting point and an end point of the trajectory of the arm end are positioned equal distantly from a center of rotation of the drive link; and the arm end, when disposed at the starting point, is oriented in a mirror image of the arm end, when disposed at the end point, with respect to a straight reference line passing through the center of rotation and a middle point between the starting and the end points.