Patent ID: 9656386
Date: 2017-05-23
CPC Classifications: B25J,H01L

Claim:
1. A robotic transport apparatus comprising: a drive system including at least one harmonic motor assembly; at least one drive shaft coupled to the at least one harmonic motor assembly; at least one robotic arm mounted to the at least one drive shaft, where the robotic arm is located inside a sealed environment; and at least one atmospheric isolation seal seated on an output surface, that is distinct from and engaged to the at least one drive shaft, of the drive system and forming an atmospheric barrier disposed so that the at least one drive shaft extends through the atmospheric barrier into the sealed environment and the at least one harmonic motor assembly is located outside the sealed environment; wherein the robotic transport apparatus is a heavy payload capacity transport apparatus and wherein a portion of the at least one harmonic motor assembly is configured as a seating surface for the at least one atmospheric isolation seal.