Patent Publication Number: US-2022238369-A1

Title: Telescoping linear extension robot

Description:
CROSS REFERENCE TO RELATED APPLICATION 
     This application claims the benefit of U.S. Provisional Application Ser. No. 63/140,597, filed Jan. 22, 2021 and entitled TELESCOPING LINEAR EXTENSION ROBOT, the entire disclosure of which is hereby expressly incorporated herein by reference. 
    
    
     BACKGROUND 
     1. Technical Field 
     The present application relates to telescoping linear extension robots for use in substrate delivery systems and, more particularly, to a telescoping linear extension robot with two driven extension stages and a floating intermediate stage to provide extended reach. 
     2. Description of the Related Art 
     The processing of semiconductors requires the movement of substrates across varying distances and locations. In some cases, such substrates can be heavy, such as several kilograms or more. In addition, the semiconductor industry is generally highly automated and may be optimized for large batch processing. Process tools utilizing these large, heavy substrates for batch wafer processing require high performance throughput, with competing interests of minimized cost and size for optimized production. 
     Due to the high output needs of semiconductor production, floor space in fabrication sites is valuable. The use of substrate transfer systems with multiple robots has resulted in tools that are too expensive and require large floor footprints for basic functionality. 
     Current solutions on the market includes usage of selective compliance assembly robot arms (SCARA) for linear movements, or basic linear extension drives. However, substrates often need to be transported across different distances based on production of different batches. Additionally, a wide range of substrate weights are needed for certain semiconductor productions. The currently available solutions on the market fail to account for the need for versatility, cost effectiveness, and floor footprint awareness. 
     What is needed is an improvement over the foregoing. 
     SUMMARY 
     The present disclosure is directed to a telescoping linear extension robot which includes a base configured to support the telescoping linear extension robot, a first driven platform, drivingly coupled to the base, a second driven platform, drivingly coupled to the first driven platform, and a floating intermediate platform. The intermediate platform is configured to increase the extendable range of the driven extensions by facilitating additional extension using force generated by the driven platforms of the robot. This, in turn, allows for long-reach robot solutions with reduced physical footprint, complexity and cost. 
     In one form thereof, the present disclosure provides a telescoping linear extension robot including a base platform; a first driven platform; an intermediate platform deployed between the base platform and the first driven platform and a first motor operably coupled to the first driven platform and the base platform. The intermediate platform is slideably coupled to the base platform and configured to move along a first path relative to the base platform, and the first driven platform is slideably coupled to the intermediate platform and configured to move along a second path relative to the intermediate platform, the first path defining an extension of the second path. Activation of the first motor drives the first driven platform along the second path, and the first motor is decoupled from the intermediate platform such that the intermediate platform is allowed to move independently of the first motor along the first path, whereby the intermediate platform is configured to non-drivingly increase an extendable range of the telescoping linear extension robot. 
     In another form thereof, the present disclosure provides a method of delivering a substrate for use in semiconductor processing using a telescoping linear extension robot, the method including placing substrate on a substrate base of the telescoping linear extension robot, extending a first driven platform a first distance via a direct coupling with a first motor, extending the first driven platform a second distance beyond the first distance by actuating an intermediate platform via an indirect coupling with the first motor, and extending a second driven platform a third distance beyond the second distance via a direct coupling with a second motor, the second driven platform including the substrate base. 
     Additional features and advantages of the present invention will become apparent to those skilled in the art upon consideration of the following detailed description of an illustrative embodiment exemplifying the invention. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The above mentioned and other features and objects of this invention, and the manner of attaining them, will become more apparent and the invention itself will be better understood by reference to the following description of embodiments of the invention taken in conjunction with the accompanying drawings, wherein: 
         FIG. 1  is a top perspective view of a telescoping linear extension robot made in accordance with the present disclosure, shown in a retracted configuration; 
         FIG. 2  is a top perspective view of the telescoping linear extension robot of  FIG. 1 , shown in an extended configuration; 
         FIG. 3  is an exploded, rear perspective view of the linear extension robot shown in  FIG. 1 ; 
         FIG. 4  is a bottom perspective view of the telescoping linear extension robot of  FIG. 1 , shown in an extended configuration; 
         FIG. 5  is a bottom perspective view of the telescoping linear extension robot of  FIG. 1 , shown in a retracted configuration; 
         FIG. 6  is a left side elevation view of the telescoping linear extension robot of  FIG. 1 , shown in an extended configuration; 
         FIG. 7  is another left side elevation view of the telescoping linear extension robot of  FIG. 1 , shown in a retracted configuration; 
         FIG. 8  is a top plan view of the telescoping linear extension robot of  FIG. 1 , shown in an extended configuration; and 
         FIG. 9  is a rear elevation view of the telescoping linear extension robot, in a retracted configuration. 
     
    
    
     Corresponding reference characters indicate corresponding parts throughout the several views. Although the exemplifications set out herein illustrate embodiments of the invention, the embodiments disclosed below are not intended to be exhaustive or to be construed as limiting the scope of the invention to the precise form disclosed. 
     DETAILED DESCRIPTION 
     For the purpose of promoting an understanding of the principles of the invention, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended. Any alterations and further modifications in the described embodiments, and any further applications of the principles of the invention as described herein are contemplated as would normally occur to one skilled in the art to which the invention relates. One embodiment of the invention is shown in great detail, although it will be apparent to those skilled in the relevant art that some features that are not relevant to the present invention may not be shown for the sake of clarity. 
     The present disclosure is directed to a telescoping linear extension robot  10 , shown in  FIG. 1 , designed for transport of relatively large, heavy substrates, such as substrates weighing over 5 kg and up to 17 kg, over a distance approaching multiples of the diameter of the substrate, such as a reach of up to 1.5 meters, while maintaining a compact footprint when retracted. Additionally, robot  10  depicted in  FIG. 1  provides minimum vertical deflection in use, and utilizes a relatively narrow cross-section which aids in its employment to deliver substrates through housing slots  13 , as further described below. 
     As shown in  FIG. 2  and further described herein, telescoping linear extension robot  10  includes two driven extension platforms, illustrated as second platform  30  and third platform  40 , which serve as two powered extension stages. An additional undriven, or floating, extension stage member is shown as intermediate platform  50 , which is configured to be pushed or pulled by the momentum of second platform  30 , as further described below. The result is the ability to achieve an extended reach of a triple-stage extension, using only two drives and without any direct driving of one of the stages. 
     In the illustrated embodiment, the two driven stages are coupled to a controller that is programmed to achieve smooth extension and retraction moves, including through synchronization of the movement of each drive. The nature of the present “floating” mechanical coupling between the driven and floating stages cooperates with such synchronization to achieve move trajectories that are not limited to simple multiples of the base drive trajectory, as is typically the case where one drive moves two stages through a direct or “fixed” mechanical coupling. e.g., a gearing or pulley system. The present arrangement therefore provides superior acceleration and jerk control to facilitate the smooth, precise movement of large-diameter heavy substrates while minimizing the size, complexity and cost of the overall system. 
     Turning again to  FIG. 1 , telescoping linear extension robot  10  is illustrated in a retracted configuration and in a schematically-illustrated working environment, which includes a housing  12 . Housing  12  includes slot  13 , through which telescoping linear extension robot  10  is configured to extend.  FIG. 1  also demonstrates how the structural components of telescoping extension robot  10 , when retracted, make up a compact mechanism footprint which fits within a relatively small enclosed space provided by housing  12 , but also provides sufficient reach to extend substantially through slot  13  to fully reposition a substrate positioned on base  42 . In the illustrated embodiment, stand  11  includes a plurality of legs or guides (e.g., four) which support and guide robot  10  above a ground or lower support surface, and drive shaft  16  extending upwardly within the footprint of stand  11  to drive rotation and vertical adjustment, or lift, of robot  10 , as further described below. 
     In some working environments, robot  10  may be required to extend through one slot  13  of housing  12  to receive a substrate, retract, rotate to an orientation aligned with another slot  13 , and extend through this slot  13  to deliver the substrate to its next destination in the process. Robot  10  may also raise or lower the substrate, as needed, to vertically alight with the desired slot  13 . In this way, robot  10  may be used to facilitate the transfer of substrates from one part of a production line to another. 
       FIG. 2  illustrates telescoping linear extension robot  10  in an extended configuration. Telescoping linear extension robot  10  includes a first, fixed lower platform  20  mounted (i.e., fixed) on stand  11 , a second, intermediate driven platform  30  which is drivingly coupled to first platform  20 , and a third, upper driven platform  40  which is drivingly coupled to second platform  30 . A fourth, intermediate floating platform  50  is slidably coupled to, and disposed between, the fixed lower platform  20  and the second, intermediate driven platform  30 . 
     The mechanisms and parts of each individual component of telescoping extension robot  10  will be discussed in detail below. The illustrative arrangement of platforms  20 ,  30 ,  40  and  50  shown in  FIG. 2  will be described herein for purposes of illustrating the invention, but it is contemplated that other arrangements may be made in which the floating platform occupies a different position in the height order (e.g., between the two driven platforms, for example), and that other modifications may be made as desired or required for a particular application (e.g., platforms having alternative orientations relative to gravity and one another). 
     Stand  11  includes an upper platform portion supported by at least three (as illustrated in  FIGS. 1 and 2 , four) guides which are long enough to vertically guide telescoping linear extension robot  10  to a desired height, which may be determined by the configuration of housing  12  and slot  13 . Stand  11  is configured to support the weight of telescoping extension robot  10  and a heavy substrate supported by base  42  and moved by telescoping extension robot  10 . Furthermore, stand  11  is configured withstand the dynamic forces and weight distribution changes associated with transport of the heavy substrate supported by base  42  between a retracted configuration ( FIG. 1 ) and an extended configuration ( FIG. 2 ) of the telescoping extension robot  10 , as well as the forces arising from acceleration during the transition between such configurations. 
     As shown in  FIGS. 4 and 5 , the upper platform  17 B of stand  11  includes fastener apertures which allow fasteners to mount and fix telescoping extension robot  10  to stand  11 . Lower platforms  17 A of stand  11  include a large central aperture  15  ( FIG. 4 ), into which drive shaft  16  extends. An upper axial end of drive shaft  16  is sized and configured to be received within and coupled to mounting collar  27 , which is fixed (e.g., welded) to upper platform  17 B and extends from a bottom side thereof. Upper platform  17 B is rotatably supported atop lower platform  17 A of stand  11 , optionally with a lubricious disc or bearing therebetween to facilitate rotation. Upper platform  17 B is fixed (e.g., by threaded fasteners) to a bottom surface of first platform  20  of robot  10 , such that rotation of drive shaft  16  causes a corresponding rotation of upper platform  17 B and robot  10 . This rotation allows robot  10  to pivot for alignment with different slots  13  ( FIG. 1 ), as described herein. 
     Robot  10  includes an array of sensors, such as through-beam sensors capable of sensing distances of 3 mm or more to sense movements of platforms  30 ,  40  and/or  50 , and issuing a signal to a controller indicative of such movements as further described below. Additionally, the sensors may include rotational sensor  24 A ( FIG. 4 ) configured to register the presence and proximity of devices  24 B, which are placed at particular rotational positions on the rotatable upper platform  17 B of stand  11 . In this way, sensor  24 A cooperates with devices  24 B to monitor rotational position and movement of robot  10  and issue signals indicative of such movement to the controller. The controller may be configured to send and receive information to and from the user and robot  10 , such as by receiving both positional and rotational sensor information, and issuance of commands to rotate, raise/lower and extend/retract robot  10 . 
     As illustrated in  FIGS. 4 and 5 , first platform  20  is rectangular in shape and is configured to rest atop and to be slidably coupled to upper platform  17 B. As illustrated in  FIG. 3 , first platform  20  includes encoder bar  21 , motor  22  including motor track  23  and slider  34 , sensor assembly  24 A/ 24 B, and rails  26 . 
     Encoder bar  21  extends along the length of one of the long sides of first platform  20 , including end portions extending past the ends of this long side. Encoder bar  21  is coupled to the outer edge of this long side of first platform  20  by retainer bracket  29 A,  29 B. Encoder bar  21  cooperates with encoder sensor  36 , connected to intermediate platform  30 , to detect and monitor the linear position of intermediate platform  30  relative to fixed platform  20 , and sensor  36  issues a signal indicative of its position along encoder bar  21  which corresponds to a particular position of intermediate platform  30 . 
     Motor  22  is positioned along the opposite long side of first platform  20  and is coupled to its corresponding outer edge. In the embodiment of  FIGS. 1-9 , motor  22  is a linear magnetic motor, but other types of motors may be used as required or desired for a particular application, such as various AC, DC, servo, or stepper motors. Motor  22  includes motor track  23 , which a slot formed in motor  22  which is shaped and configured to slidably receive, retain and drive slider  34  along track  33  upon activation of motor  22 . 
     As best illustrated in  FIG. 2 , the fixed first platform  20  includes two rails  26  configured to constrain the motion of floating platform  50  along a linear path relative to base platform  20 . Non-linear paths may also be employed by utilizing curved rails, as required or desired for a particular application. In the illustrated embodiment, rails  26  extend along the length of both long sides of first platform  20 , inside of encoder bar  21  and motor  22 . Rails  26  are configured to slidably receive and retain carriages  54  fixed to intermediate platform  50 . Rails  26  are configured to define the extension path for intermediate platform  50  to translate along during extension and retraction of telescoping linear extension robot  10 . 
     As best shown in  FIG. 3 , first platform  20  also includes a sensor device  24 B fixed to its upper face inward of encoder bar  21  and linear movement rail  26 . A sensor  24 A, not shown in  FIG. 3  but also illustrated and described with respect to  FIG. 4 , is also fixed to an under surface of intermediate platform  50 , and is configured to register the proximity of sensor device  24 B when robot  10  is in its extended configuration ( FIG. 2 ), such that sensor  24 A issues a signal to the controller indicative of the extended configuration. The controller may prevent any further activation of motor  22  when such signal is received, thereby preventing over-extension of robot  10 . Additionally, the illustrated position and configuration ensures of sensor  24 A and sensor device  24 B are protected from damage and contamination during operation and service of robot  10 . 
     As illustrated in  FIGS. 2 and 3 , motor  22  is long enough to drive second, intermediate driven platform  30  beyond what would normally be considered an acceptable distance along fixed platform  20 . However, because floating platform  50  is disposed and deployed between intermediate driven platform  30  and fixed platform  20  and provides additional mechanical support to intermediate platform  30 , the maximum acceptable distance of extension is increased by distance D. More particularly, the acceptable extension distance of intermediate driven platform  30  is a function of minimum overlap between the platforms when fully extended, which in turn is dictated by the support, rigidity and deflection needed to support a given amount of weight. For any given minimum overlap, the acceptable extension becomes longer with the addition of floating platform  50  because two sections of overlap are provided for a single motor  22 . 
     Second platform  30  also includes carriages  62  configured to be retained upon, and slide over, rails  53  fixed to floating platform  50 . Rails  53  are substantially parallel to rails  26  (e.g., defining an angle less than 0.5 degrees), such that second platform  30  slides along a linear path relative to intermediate platform  50  that is substantially parallel to the linear path of intermediate platform  50  described above. In addition, the path of second platform  30  forms an extension of the path defined by intermediate platform  50 , such that the two paths cooperate to create a long extension path commensurate with the stroke of motor  22 , while maintaining a small footprint as further described herein. As with the path defined by rails  26 , the path defined by rails  53  may also be non-linear. 
     Carriages  62  are linear bearings which are configured to accommodate linear movement with little friction and resistance, similar to carriages  54  described above. In the illustrated embodiment, a pair of carriages  62  are positioned along each long side of third platform  40  at the front and rear, and are configured to be slidably retained on rails  53  of intermediate platform  50 . 
     As depicted in  FIG. 3 , second platform  30  of robot  10  also functions as the base for second driven extension stage. While second platform  30  is configured to be supported by intermediate platform  50 , second platform  30  similarly supports third platform  40 . To this end, the illustrated embodiment of second platform  30  includes encoder bar  31 , motor  32  having a motor track  33  and slider  48 , another position sensor  35 A/ 35 B, stop pins  37  and  38 , and linear rails  61 . 
     Referring still to  FIG. 3 , encoder bar  31  of second platform  30  extends partially along the length of a top surface of second platform  30 . Encoder bar  31  cooperates with an encoder sensor  31 A, shown in  FIG. 9 , disposed on a bottom surface of third platform  40 . Encoder sensor  31 A may be configured the same as encoder sensor  36  described above, such that encoder sensor  31 A cooperates with encoder bar  31  to generate and transmit signals indicative of the linear position of third platform  40  relative to second platform  30 . In particular, encoder sensor  36  issues a signal indicative of its position along encoder bar  31  to the controller, and this signal corresponds to a particular position of third platform  40 . 
     The controller may use this positional signal to selectively activate motor  32 , which is disposed next to encoder bar  31 . Motor  32  and encoder bar  31  run parallel to each other along the length of second platform  30 . Similar to motor  22  described above, motor  32  is a linear magnetic motor, but, other types of motors may also be used such as various AC, DC, servo, or stepper motors. Motor  32  includes motor track  33  shaped and configured to slidably receive, retain and drive linear motion of a correspondingly shaped slider  48  ( FIG. 9 ), such that activation of motor  32  causes movement of slider  48  through motor track  33 , thereby moving intermediate platform  30  under the driving force of motor  32 . 
     Turning again to  FIG. 2 , second platform  30  further comprises two rails  61  fixed to its upper surface, which are configured to cooperate with carriages  43  fixed to third platform  40  to define the linear motion of third platform  40 . Rails  61  are substantially parallel to rails  53  and  26  (e.g., defining an angle less than 0.5 degrees), such that third platform  40  slides along a linear path relative to second platform  30  that is substantially parallel to the linear paths of intermediate platform  50  and second platform  30  described above. Rails  61  extend along the length of each long sides of second platform  30 , and are configured to slidably receive and retain carriages  49  fixed to third platform  40 . Rails  61  define the linear path for third platform  40  relative to second platform  30  during extension and retraction of telescoping linear extension robot  10 . The path of third platform  40  can form a further extension of the paths of platforms  30  and  50 , as shown in the  FIGS. 2, 4 and 6 . As with the paths defined by rails  26  and rails  53 , the path defined by rails  61  may also be non-linear. 
     As best shown in  FIGS. 3 and 9 , second platform  30  also includes sensor  35 A and sensor device  35 B ( FIG. 9 ), which may the same as sensor  24 A and sensor device  24 B shown and described above with reference to other components. Sensor  35 A is disposed on an upper face of second platform  30  and laterally between encoder bar  31  and rail  61 . Sensor device  35 B and sensor  35 A are also disposed underneath third platform  40  throughout the entire range of extension of telescoping linear extension robot  10 . This position and configuration ensures that sensor device  35 B and sensor  35 A are protected from damage and contamination during operation and service of robot  10 . Similar to sensor device  24 B shown in  FIG. 3  and described above with reference to fixed platform  20 , sensor  35 A is configured to register the proximity of sensor device  35 B when robot  10  is in its extended configuration ( FIG. 2 ), such that sensor  35 A issues a signal to the controller indicative of the extended configuration. The controller may prevent any further activation of motor  32  when such signal is received, thereby preventing over-extension of robot  10 . 
     Second platform  30  also includes stop pin  37  and stop pin  38 . Stop pin  37  extends vertically up from a corner of the leading edge of second platform  30 . Stop pin  37  extends only partially the distance between second platform  30  and third platform  40 , such that stop pin  37  does not touch third platform  40  during motion. As best shown in  FIG. 8 , stop pin  37  is configured to interact with the adjacent carriage  43  of third platform to pose a physical barrier to further extension of third platform  40  when it is fully extended. Stop pin  38  extends from a corner of a rear edge of second platform  30  having a similar profile to stop pin  37 . Stop pin  38  is configured to interact with the adjacent carriage  43  of third platform  40  to pose a physical barrier to further retraction of third platform  40  when it is fully retracted. 
     As illustrated in  FIG. 3 , the end effector of telescoping linear extension robot  10  is part of third platform  40 . Third platform  40  includes a first, rear portion  45  extending from its rear terminal edge forward to a second, middle portion  47 . Middle portion includes widened frame  41 , which provides structural support to substrate base  42  which is the front portion of third platform  40 . In the illustrated embodiment, substrate base  42  is a circular construct which has a circumference sized to support large, heavy substrates for use in the semiconductor industry for the batch processing of device wafers. 
     As illustrated in  FIG. 3 , third platform  40  also includes ribs  46  which extend along the length of first portion  45  and second portion  47 . Ribs  46  extend perpendicularly up from third platform  40  are configured to increase the strength and rigidity of third platform  40  to support the weight of heavy substrates and to reduce vibrations of third platform  40  during translation of telescoping linear extension robot  10 . Ribs  46  also decrease deflection in third platform  40  while fully extended. 
     Referring still to  FIG. 3 , intermediate platform  50  includes extension pin  51  and retraction pin  52 . As noted above, intermediate platform  50  is configured to slide along, or “float between”, both first platform  20  and second platform  30  as described above, and pins  51 ,  52  provide some control over the time and circumstances of movement of intermediate platform. 
     In particular, extension pin  51  is positioned to be impacted by the leading or forward carriage  62  of second platform  30  during extension. Extension pin  51  is impacted by carriage  62  at a point in the translation of second platform  30  at which second platform  30  is still being driven to extend by motor  22 . Second platform  30  continues to extend towards the extended configuration of  FIG. 6  and “drags” intermediate platform forward along by the contact between extension pin  51  and the adjacent the forward carriage  62 . 
     As shown in  FIG. 6 , while telescoping linear extension robot  10  is in the fully extended configuration, retraction pin  52  is spaced apart from the rear carriage  62  of second platform  30 . As telescoping linear extension robot  10  is retracted, the distance between retention pin  52  and the adjacent rear carriage  62  closes, until the adjacent rear carriage  62  of second platform  30  eventually impacts the pin  52 . This impact occurs at a point in the retraction of second platform  30  in which second platform  30  is still being driven to retract by motor  22 . Second platform  30  continues to extend towards the retracted configuration, and “drags” intermediate platform  50  rearward by retention pin  52 . This retraction process is complete when second platform  30  reaches is fully retracted position, as shown in  FIGS. 5, 7, and 9 . 
     During translation on telescoping linear extension robot  10 , the contact point between either extension pin  51  or retention pin  52  increases the moving inertia by the ratio of the intermediate platform  50  mass to the entire moving mass (which includes the mass of the intermediate platform  50  mass, second platform  30  mass, and third platform  40  mass). In the present embodiment, this inertial increase is less than  10 %. Because of this minor increase in moving inertia, there is no material impact on the dynamic performance of motor  22 , and no impact at all on motor  32 , assuming the velocities employed are small relative to the overall moving mass. 
     In this way, motor  22  drives both the second platform  30  and intermediate platform  50  forward and back during translation of telescoping linear extension robot  10 , but motor  22  is only directly mechanically coupled to second platform  30  while remaining decoupled from floating intermediate platform  50 . That is, floating intermediate platform  50  is free to move (i.e., “float”) through its linear path without any direct influence of motor  22 . Instead, motor  22  only “indirectly” influences the movement of platform  50  through the interaction between pins  51  and  52  and intermediate platform  50  as described herein. 
     Therefore, the configuration of intermediate platform  50  second platform  30  are configured to cooperate to effectively travel a distance in excess of the length of rails  26 , which would otherwise be the limiting factor in extension capabilities in the absence of the “floating” intermediate platform  50 . In the illustrative embodiment of  FIG. 6 , the additional extension length D achieved was nearly 165 mm without any adverse impact in the rigidity and support provided by substrate base  42 . In alternative embodiment, this added extension length can be scaled up or down by design choices made for any given application. 
     The move profiles programmed into the controller for the first and second extension servo axes of motors  22  and  32  are generally sequential, rather than simultaneous, to minimize loop interaction. However, the controller may be programmed for synchronized moves between motor  22  and motor  32 , with due consideration for the stiffness of the axes of motor  22  and motor  32  and the drive forces available. 
     This methodology provides smaller deflection under load and at extension, as compared to a design supporting only two driven platforms without an intermediate “floating” platform. The deflection requirement is met in a much more compact rotational-axis configuration than could otherwise be achieved. In one exemplary embodiment, the rotation diameter is reduced by nearly 330 mm allowing this transfer robot to support up to 3 process chambers within a limited floor footprint. In particular, a reduction in length of the fixed platform  20  is made possible by the inclusion of intermediate platform  50  for a given extension capability, but without the inclusion of another motor or a direct mechanical linkage between motor  22  and intermediate platform  50 . 
     While this invention has been described as having exemplary designs, the present invention can be further modified within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains and which fall within the limits of the appended claims. 
     ASPECTS 
     Aspect 1 is a telescoping linear extension robot including a base platform, a first driven platform, an intermediate platform disposed and deployed between the base platform and the first driven platform, and a first motor operably coupled to the first driven platform and the base platform. The intermediate platform is slideably coupled to the base platform and configured to move along a first path relative to the base platform, and the first driven platform is slideably coupled to the intermediate platform and configured to move along a second path relative to the intermediate platform, the first path defining an extension of the second path. Activation of the first motor drives the first driven platform along the second path, and the first motor is decoupled from the intermediate platform such that the intermediate platform is allowed to move independently of the first motor along the first path. The intermediate platform is configured to non-drivingly increase an extendable range of the telescoping linear extension robot. 
     Aspect 2 is the telescoping linear extension robot of Aspect 1, wherein the first path is a first linear path, and the second path is a second linear path substantially parallel to the first linear path. 
     Aspect 3 is the telescoping linear extension robot of Aspects 1 or 2, further including a second driven platform, slideably coupled to the first driven platform and configured to move along a third linear path substantially parallel to the first and second linear paths, and a second motor operably coupled to the first driven platform and the second driven platform, such that activation of the second motor drives the second driven platform along the third linear path. 
     Aspect 4 is the telescoping linear extension robot of any of Aspects 1-3, further comprising a housing at least partially enclosing the telescoping linear extension robot. 
     Aspect 5 is the telescoping linear extension robot of Aspect 4, wherein the housing further includes at least one slot, the second driven platform configured to be extendable through the at least one slot. 
     Aspect 6 is the telescoping linear extension robot of Aspect 5, wherein the telescoping linear extension robot is rotatably mounted within the housing such that the second driven platform can be positioned to be extend through a plurality of slots. 
     Aspect 7 is the telescoping linear extension robot of any of Aspects 1-3, wherein the first driven platform is part of a first driven platform assembly further including a lower motor slider, an upper motor track fixed to an upper surface of the first driven platform, an upper rail fixed to the upper surface, and an intermediate carriage fixed to a lower surface of the first driven platform. 
     Aspect 8 is the telescoping linear extension robot of Aspect 7, wherein the second driven platform is part of a second driven platform assembly further including an upper motor slider positioned to be driven by the upper motor track, and an upper carriage fixed to a lower surface of the second driven platform, and configured to be slidingly retained onto the upper rail. 
     Aspect 9 is the telescoping linear extension robot of Aspect 8, wherein the intermediate platform is part of an intermediate platform assembly further including an intermediate rail fixed to a top surface of the intermediate platform, the intermediate rail configured to be slidingly retained by the intermediate carriage of the first driven platform assembly, a lower carriage fixed to a bottom surface of the intermediate platform, a retraction pin extending up from a rear portion of the intermediate platform, and an extension pin extending up from a front portion of the intermediate platform. 
     Aspect 10 is the telescoping linear extension robot of Aspect 9, wherein the base platform is part of a base platform assembly further including a lower rail fixed to a top surface of the base platform, the lower rail configured to be slidingly retained by the lower carriage of the intermediate platform assembly, and a lower motor track positioned to drivingly receive the lower motor slider of the first driven platform assembly. 
     Aspect 11 is the telescoping linear extension robot of Aspect 9, wherein the extension pin is positioned to be contacted by a portion of the first driven platform assembly as the first driven platform is moved from a retracted position toward an extended position, and to drag the intermediate platform toward its extended position by the contact with the extension pin. 
     Aspect 12 is the telescoping linear extension robot of Aspect 9, wherein the retraction pin is positioned to be contacted by a portion of the first driven platform assembly as the first driven platform is moved from its extended position toward its retracted position, and to drag the intermediate platform toward its retracted position by the contact with the retraction pin. 
     Aspect 13 is the telescoping linear extension robot of any of Aspects 1-3, wherein the first motor is a first linear magnet motor disposed along respective edges of the first driven platform and the base platform, and the second motor is a second linear magnet motor disposed between of the first driven platform and the second driven platform. 
     Aspect 14 is the telescoping linear extension robot of any of Aspects 1-3, wherein the second driven platform further comprises a substrate base sized and shaped to support and transport substrates for use in semiconductor processing. 
     Aspect 15 is the telescoping linear extension robot of any of Aspects 1-14, wherein the base platform is part of a base assembly further including a lower platform, an upper platform rotatably supported atop the lower platform, the upper platform fixed to the base platform, a stand which supports the lower platform spaced above a ground surface, and a drive shaft extending upwardly along the stand and through the lower platform, the drive shaft configured to rotate, raise and/or lower the upper platform and the base platform. 
     Aspect 16 is the telescoping linear extension robot of any of Aspects 1-15, further including a first encoder disposed and deployed between the base platform and the first driven platform, the first encoder configured to issue a signal indicative of a linear position of the first driven platform relative to the base platform, and a second encoder disposed and deployed between the first driven platform and second driven platform, the second encoder configured to issue a signal indicative of a linear position of the second driven platform relative to the first driven platform. 
     Aspect 17 is a method of delivering a substrate for use in semiconductor processing using a telescoping linear extension robot, the method including placing substrate on a substrate base of the telescoping linear extension robot, extending a first driven platform a first distance via a direct coupling with a first motor, extending the first driven platform a second distance beyond the first distance by actuating an intermediate platform via an indirect coupling with the first motor, and extending a second driven platform a third distance beyond the second distance via a direct coupling with a second motor, the second driven platform including the substrate base. 
     Aspect 18 is the method of Aspect 17, wherein the step of extending the first driven platform the second distance further includes impacting a first portion of the intermediate platform with a first portion of the first driven platform as the first driven platform moves reaches the end of the first distance along its extension path. 
     Aspect 19 is the method of Aspects 17 or 18, further including retracting the first driven platform the second distance by direct coupling between the first driven platform and the first motor, and retracting the first driven platform the first distance by actuating the intermediate platform via the indirect coupling with the first motor. 
     Aspect 20 is the method of Aspect 19, wherein the step of retracting the first driven platform the first distance further includes impacting a second portion of the intermediate platform with a second portion of the first driven platform as the first driven platform reaches the end of the second distance along its retraction path, the first portion of the intermediate platform spaced from the second portion of the intermediate platform, and the first portion of the first driven platform spaced from the second portion of the first driven platform.