Patent ID: 7112808

Claim:
A scanning apparatus for processing a substrate, the scanning apparatus comprising: a base portion; and a rotary subsystem comprising: a first link comprising a first joint, wherein the first link is rotatably coupled to the base portion by the first joint; a second link comprising a second joint, wherein the second link is rotatably coupled to the first link by the second joint, and wherein the first joint and the second joint are spaced a predetermined distance from one another, the second link further comprising an end effector whereon the substrate resides, wherein the end effector is operably coupled to the second link, and wherein the end effector is further spaced from the second joint by the predetermined distance; a first actuator operable to continuously rotate the first link about the first joint in a first rotational direction; and a second actuator operable to continuously rotate the second link about the second joint in a second rotational direction, wherein the second actuator comprises a servo motor fixedly mounted to the first link, and wherein the end effector is operable to linearly oscillate with respect to the base portion along a first scan path upon the rotation of the first and second actuators.