Patent ID: 8136422

Claim:
An articulated robot for loading/unloading a work-piece to/from a cassette comprising: a hand part for holding the work-piece; an arm part which turnably holds the hand part; a link mechanism which comprises: a base side link part which is disposed on a base end side of the articulated robot; and an arm side link part which is disposed on a side of the arm part; wherein the arm side link part is connected with the base side link part and turnably holds a base end side of the arm part; and wherein the link mechanism is configured to operate so that a moving trajectory of a connection point of the arm part with the arm side link part is controlled on a straight line in a direction substantially perpendicular to a loading/unloading direction of the work-piece to/from the cassette; and a drive means for moving the arm part so as to perform linear interpolation in the loading/unloading direction while matching with movement of the link mechanism.