Patent ID: 7578649

Claim:
A substrate transport apparatus, comprising: a first drive section; an upper arm rotatably connected to the drive section at a first end of the upper arm for rotating the upper arm about an axis of rotation of the first drive section; a first forearm pivotably connected to the upper arm for pivoting relative to the upper arm on an axis displaced from said drive section axis, the first forearm having a first end effector depending therefrom; a second forearm pivotably connected to the upper arm for pivoting relative to the upper arm on said displaced axis, the second forearm having a second end effector depending therefrom; and a second drive section comprising a first motor drive mechanism, and a second motor drive mechanism mounted on said upper arm, the first motor drive mechanism being connected to the first forearm for pivoting the first forearm relative to the upper arm on said displaced axis, and the second motor drive mechanism being connected to the second forearm for pivoting the second forearm relative to the upper arm on said displaced axis.