Importance

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Abstract

A robotic arm comprises a plurality of sequentially pivotally attached links. The proximal end portion of the proximalmost of the links is pivotally mounted to a relatively static structure. An end effector structure has two substantially oppositely extending hands each capable of picking up a workpiece. The end effector structure is centrally pivotally mounted to the distal end portion of the distalmost link. The links, end effector structure and static structure are such as to allow the robotic arm to reverse across the pivot axis of the proximal end portion of the proximalmost of the links. A radial drive serves for driving the links in a manner such that the pivot axis of the central portion of the end effector structure moves only substantially linearly radially along a straight line passing through and perpendicular to the pivot axis of the proximal end portion of the proximalmost of the links and to the pivot axis of the central portion of the end effector structure. The effector structure is maintained at a selected angle to the line. A rotational drive rotates the relatively static structure and with it the links about the pivot axis of the proximal end portion of the proximalmost of the links.

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First Claim