Patent ID: 6991419

Claim:
A transfer apparatus for a wafer, comprising: a base; only two arms, including one lower arm comprising a single link and configured to be vertically and rotatably adjustable relative to the base and including one non-extensible and nonlinear upper arm comprising a single link and having a first end and a second end; a horizontal arm pivot coupling the first end of the upper arm to the lower arm, the horizontal arm pivot configured to allow the upper arm to pivot thereon in a single pivot plane; an end effector hand adapted to engage a wafer without contacting an upper surface of said wafer; and a horizontal hand pivot coupling the hand to the second end of the upper arm, the horizontal hand pivot configured to allow the hand to pivot thereon in the single pivot plane, wherein the upper and lower arms are structured to allow the upper arm and end effector hand to be in a first position such that the end effector hand is positioned to hold a wafer generally centered over the horizontal arm pivot, and the upper and lower arms are structured to allow the upper arm and end effector hand to be in a second position such that the upper arm is pivoted approximately 90° from the first position, the end effector hand is in a horizontal position, and a portion of the upper arm near the end effector hand is generally parallel to the end effector hand.