Patent ID: 6737826
Filing Date: 2004-05-18
Classification: B25J,H01L,Y10T

Abstract:
A substrate processing apparatus comprising:a frame; a drive section connected to the frame; an articulated arm connected to the drive section, the articulated arm having a shoulder and a wrist, the articulated arm being pivotally mounted to the drive section at the shoulder, the drive section being adapted to rotate the articulated arm relative to the frame about an axis of rotation at the shoulder, and to displace the wrist relative to the shoulder; and at least one pair of end effectors connected to the articulated arm, the at least one pair of end effectors being pivotally jointed to the wrist of the articulated arm to rotate relative to the articulated arm about a common axis of rotation at the wrist, wherein each of the at least one pair of end effectors is independently pivotable relative to each other about the common axis of rotation at the wrist and at least one of the at least one pair of end effectors is independently pivotable about the common axis of rotation at the wrist relative to the articulated arm.