Patent ID: 9076830
Filing Date: 2015-07-07
Classification: B25J,H01L

Abstract:
1. A robot apparatus, comprising: a base; an upper arm adapted to rotate relative to the base about a first rotational axis, the upper arm including a divider; a forearm coupled to the upper arm at a first position offset from the first rotational axis, the forearm adapted to rotate about a second rotational axis at the first position; dual wrist members coupled to and adapted for rotation relative to the forearm about a third rotational axis at a second position offset from the second rotational axis, the dual wrist members each adapted to couple to respective end effectors, wherein each respective end effector is adapted to carry a substrate; an upper arm drive assembly adapted to rotate the upper arm relative to the base; a forearm drive assembly adapted to rotate the forearm relative to the upper arm, the forearm drive assembly including a forearm drive motor mounted to the upper arm, and a drive member above the divider; and a wrist drive assembly adapted to independently rotate the dual wrist members relative to the forearm, the wrist drive assembly including a first wrist drive motor and second wrist drive motor mounted to the upper arm, a first wrist drive member below the divider, and a second wrist drive member below the divider.