Patent ID: 7891935
Filing Date: 2011-02-22
Classification: B25J,H01L,Y10S,Y10T

Abstract:
1. A robot assembly for manipulating one or more substrates, comprising: a first arm and a second arm supported by a column; the first arm comprising a first limb, the first limb comprising a first set of three revolute joint/link pairs serially connected in an open kinematic chain to provide translation and rotation of a distalmost link of the first limb in a horizontal plane; the second arm comprising a second limb, the second limb comprising a second set of three revolute joint/link pairs serially connected in an open kinematic chain to provide translation and rotation of a distalmost link of the second limb in a horizontal plane; the first limb and the second limb having proximal revolute joints having a common vertical axis of rotation; an actuator assembly coupled to the first set of revolute joint/link pairs and to the second set of revolute joint/link pairs to effect rotation and translation of the distalmost links of the first limb and the second limb, the actuator assembly comprising: