Patent ID: 6840732

Claim:
A transport apparatus for transporting substrates, the transport apparatus comprising: first and second arms having at a first end of each thereof a rotary drive shaft, the rotary drive shafts being arranged coaxially; first and second drive sources for applying rotary forces respectively to the rotary drive shafts of the first and second arms; third and fourth arms rotatably linked at respective first ends thereof to the respective second ends of the first and second arms, the second ends of the third and fourth arms being rotatably supported around centers of coaxially arranged spindles, respectively; and an articulating mechanism having an attitude control mechanism for applying rotary forces with opposite phases to the respective spindles arranged at the second ends of the third and fourth arms, wherein the attitude control mechanism has a power transmission mechanism for transmitting rotary forces with opposite phases to the respective spindles of the third and fourth arms, and wherein the attitude control mechanism comprises first and second restraint pulleys fixed respectively to the spindles of the third and fourth arms, a third restraint pulley juxtaposed with the first and second restraint pulleys, a first restraint belt wound around the first restraint pulley and the third restraint pulley so as to make them rotate in phase, and a pair of restraint belts wound around the second restraint pulley and the third restraint pulley so as to make them rotate in opposite phases, the pair of restraint belts including second and third restraint belts, and wherein the first restraint belt is connected to the first and third restraint pulleys with fastening screws, and the second and third restraint belts are connected to the second and third restraint pulleys with other fastening screws.