A work-piece transfer apparatus comprising: a. at least one generally elongated work-piece engagement structure; b. a pair of first robot arms arranged generally parallel to each other, each first robot arm having a first end portion and a second end portion, the first end portion being connected to the at least one generally elongated work-piece engagement structure where the generally elongated work-piece engagement structure extends in a direction that is generally transverse to the first pair of robot arms; c. a first motor coupled to at least one first robot arms and at least one generally elongated work-piece engagement structure; d. a pair of second robot arms arranged generally parallel to each other, each second robot arm coupled with the second end portion of one first robot arm; e. a second motor coupled to at least one of the first robot arms and at least one of the second robot arms; f. a base for supporting the first robot arms, the second robot arms, and the at least one generally elongated work-piece engagement structure and mounting the apparatus to a structure; and g. a third motor coupled to the base and at least one of the second robot arms; wherein the first motor is operated to maintain a desired orientation of the at least one generally elongated work-piece engagement structure; wherein the second and third motors (224,222) are operated synchronously to raise and lower the at least one generally elongated work-piece engagement structure, and translate the at least one generally elongated work-piece engagement structure in a fore and aft direction by way of one or both of the at least one first and second robot arms (216,214); and wherein a cycloid gear assembly, a planetary gear assembly, or both, is housed within one or more of the robot arms (216,214). a. at least one generally elongated work-piece engagement structure; b. a pair of first robot arms arranged generally parallel to each other, each first robot arm having a first end portion and a second end portion, the first end portion being connected to the at least one generally elongated work-piece engagement structure where the generally elongated work-piece engagement structure extends in a direction that is generally transverse to the first pair of robot arms; c. a first motor coupled to at least one first robot arms and at least one generally elongated work-piece engagement structure; d. a pair of second robot arms arranged generally parallel to each other, each second robot arm coupled with the second end portion of one first robot arm; e. a second motor coupled to at least one of the first robot arms and at least one of the second robot arms; f. a base for supporting the first robot arms, the second robot arms, and the at least one generally elongated work-piece engagement structure and mounting the apparatus to a structure; and g. a third motor coupled to the base and at least one of the second robot arms; wherein the first motor is operated to maintain a desired orientation of the at least one generally elongated work-piece engagement structure; wherein the second and third motors (224,222) are operated synchronously to raise and lower the at least one generally elongated work-piece engagement structure, and translate the at least one generally elongated work-piece engagement structure in a fore and aft direction by way of one or both of the at least one first and second robot arms (216,214); and wherein a cycloid gear assembly, a planetary gear assembly, or both, is housed within one or more of the robot arms (216,214).