Patent ID: 6354167
Filing Date: 2002-03-12
Classification: B25J,Y10S,Y10T

Abstract:
A robot for accurate planar movement of an end effector comprising:a base rotary positioner; said base rotary positioner supports and rotates a base arm; a second rotary positioner mounted on the distal end of said base arm, said second rotary positioner is oriented such that its axis of rotation is parallel to axis of rotation of said base rotary positioner; said second rotary positioner supports and rotates a second arm relative to said base arm; said second arm supports an end effector on distal end of said second arm; said second arm supports a counterweight such that said second arm and all its attachments are substantially balanced about rotation axis of said second rotary positioner; said base arm supports a counterweight such that said base arm and all its attachments are substantially balanced about rotation axis of said base rotary positioner; and, a tilt mechanism beneath the base rotary positioner wherein the tilt mechanism may tilt the robot from a horizontal plane to a vertical plane.