Patent ID: 6297611
Filing Date: 2001-10-02
Classification: B25J,H01L

Abstract:
A robot comprising:a frame; anda robot arm comprising:an extensible linkage mounted to the frame, the extensible linkage including a plurality of links mechanically connected to one another;an extensible linkage motor mechanically connected to the links of the extensible linkage such that rotation of the extensible linkage motor translates a mounting portion of one of the links of the extensible linkage along an extensible linkage trajectory;one or more end effector linkages movably mounted to the mounting portion of the extensible linkage, each end effector linkage including an end effector and a plurality of links mechanically connected to one another; andan end effector motor associated with each end effector linkage and mechanically connected to the plurality of links of the end effector linkage such that rotation of the end effector motor translates the end effector along an end effector trajectory,wherein the extensible linkage motor and each end effector motor are independently actuatable such that motion imparted to the extensible linkage by the extensible linkage motor is independent of motion imparted to each end effector linkage by each associated end effector motor.