Patent ID: 6224312
Filing Date: 2001-05-01
Classification: H01L,Y10S

Abstract:
An apparatus for transferring wafers, comprising:(a) a wafer transfer chamber;(b) a load lock chamber mounted on the wafer transfer chamber;(c) a processing chamber mounted on the wafer transfer chamber;(d) a robot positioned in the wafer transfer chamber, the robot comprising a dual wafer blade, a first rotating member, a second rotating member, and an arm assembly connecting the first and second rotating members to the dual wafer blade, wherein the arm assembly comprises first and second struts pivotally connected to the blade assembly and wherein the first and second struts are interlocked by two metal straps; and(e) a controller comprising program code for moving the wafer blade on a time optimal path through the transfer chamber, wherein the time optimal path comprises one or more regions of simultaneous radial and rotational movement of the wafer blade and the time optimal path comprises optimal velocities for an optimal path halfway between paths followed by wafers on the dual wafer blade.