Patent ID: 8322963

Claim:
An end effector for transferring a substrate in a processing system, the end effector comprising: a first base member; a second base member rotationally coupled to the first base member by an effector arm; at least one arm member rotationally coupled to the second base member by at least one lateral effector arm, wherein: the at least one arm member comprises first and second arm members; the at least one lateral effector arm comprises first and second lateral effector arms; the first arm member is rotationally coupled to the second base member by the first lateral effector arm; the second arm member is rotationally coupled to the second base member by the second lateral effector arm; and at least one blade assembly rotationally coupled to the at least one arm member, the blade assembly comprising at least two substrate supporting surfaces disposed on opposite sides of the blade assembly and positioned to retain at least two substrates simultaneously on the blade assembly, wherein the at least two substrate supporting surfaces each include a sensor for detecting a position of its at least two substrates relative to the respective substrate supporting surface and wherein the at least one blade assembly comprises a first blade assembly rotationally coupled to the first arm member and a second blade assembly rotationally coupled to the second arm member.