Patent ID: 7086822

Claim:
An SCARA type robot to carry a tabular object, comprising: a base, an arm unit configured to have two arms, one end of the arm unit being linked to the base so as to be horizontally pivotable, and the arm unit being capable of horizontally bending and stretching, wrist portions which are linked by first pivotable portions to one of said arms at the other end of the arm unit so as to be horizontally pivotable, and to which finger portions to hold a tabular object are fixed, and driving means of the arm unit and the wrist portions, wherein the driving means can independently turn said first pivotable portions which link the wrist portions and the arm unit, a second pivotable portion which bends and stretches the arm unit, and a third pivotable portion which links the arm unit and the base, so that the finger portions holding the tabular object can be moved along a plurality of nearly straight through routes which are virtually parallel to each other, and can turn at least one of the pivotable portion to make one turn or more, the SCARA type robot further comprising stoppers which limit the turn of the pivotable portions capable of making one turn or more to a prescribed pivotable angle after one turn is made, wherein said wrist portions comprise two wrist portions, wherein these wrist portions are pivotable independently from each other, and arranged on the same turning axis line.