Patent ID: 6132165
Filing Date: 2000-10-17
Classification: B25J,H01L,Y10S

Abstract:
An apparatus for transferring objects, comprising:a drive assembly coupled to at least a first and a second drive arm and comprising at least two concentric rotatable hubs having a common axis of rotation and driven by one or more actuators, each rotatable hub mounting at least one drive arm; andtwo pair of struts, each pair of struts mounted a different distance from the common axis of rotation and each pair having a first and a second strut, the first strut of each pair being pivotally mounted to the first drive arm and the second strut of each pair being mounted to the second drive arm, each drive arm comprising a first and a second mount for connecting a strut of each pair of struts to the drive arm;each pair of struts mounting an object support.