Patent ID: 8220354

Claim:
A robot comprising: a robot arm including first and second links; a support structure including a guide; a platform mounted for motion relative to the support structure, the platform coupled to the guide of the support structure such that motion of the platform is directed by the guide along a first direction; first and second primary timing belts having portions that extend substantially along the first direction; first and second shafts supported by the movable platform for motion therewith in the first direction and having a common shaft axis, extending in the first direction, about which the first and second shafts are independently rotatable, the first and second shafts being coupled to the first and second primary timing belts, respectively, such that motion of the first primary timing belt in the first direction imparts rotation of the first shaft and motion of the second primary timing belt in the first direction imparts rotation of the second shaft, the first and second shafts further being coupled to the robot arm such that rotation of the first shaft imparts motion to the first link of the robot arm and rotation of the second shaft imparts motion to the second link of the robot arm; a third timing belt including a portion configured to extend in the first direction, said platform being coupled to said portion such that movement of said portion along the first direction imparts movement to the platform in the first direction; and first, second and third motors configured such that actuation of the first, second and third motors imparts motion to the first, second and third timing belts, respectively.