Patent ID: 6246203
Filing Date: 2001-06-12
Classification: B23Q,B25J,G05B,Y10S

Abstract:
An apparatus for positioning a wafer fabrication robot, the apparatus composing:a first member defining a primary axis Z, and a second member defining a primary axis Z';a cross member defining a secondary axis X, the cross member being moveably coupled to the first member via a trunnion, and the cross member being moveably coupled to the second member via an elastic hinge; anda first driver slidably coupled to the first member and to a first end of the cross member to move the cross member along the primary axis Z;second driver slidably coupled to the second member and to a second end of the cross member to move the cross member along the primary axis Z';a carriage for carrying the wafer fabrication robot, the carriage being slidably coupled to the cross member to move along the secondary axis X; anda control unit that detects a skew affecting the wafer fabrication robot and adjusts a position of at least the first driver or the second driver to compensate for the skew.