Patent ID: 9149936
Filing Date: 2015-10-06
Classification: B25J,H01L,Y10S

Abstract:
1. A transport apparatus comprising: a drive with a drive axis; a first arm connected to the drive, where the first arm comprises a first link, a second link and an end effector connected in series with the drive, where the first link and the second link have different effective lengths; and a system for limiting rotation of the end effector relative to the second link to provide substantially only straight movement of the end effector relative to the drive when the first arm is extending or retracting, where the end effector comprises a substrate support section and a leg connecting the substrate support section to a wrist joint of the end effector with the second link, where the leg has a first section connected to the wrist joint and a second section connected to the substrate support section, and where connection of the leg to the wrist joint is offset relative to a centerline of the substrate support section, where the straight movement is along an axis which intersects the drive axis.