Importance

Loading Importance Indicators...

Abstract

An arm structure includes either two or three links pivotally connected to one another with a hand or end effector at the distal end of the distal link. Straight line movement of the pivoting mounting place of the end effector is provided from a rotating drive wheel coaxial with the pivoting of the proximal end of the proximal link. A drive wheel coaxially with the pivot of the proximal end of the proximal link causes the first and second links to pivot about their pivot axis. This pivoting causes the first link to pivot about its proximal end and causes the end effector to pivot in the two link version and causes the second and third links to pivot about their pivot axis in the three link version. A housing can be present intermediate the ends of the first link to provide a gearing adjustment. Generally, .theta. and Z motors also are present. The arm structure is useful for moving wafers, hard computer discs, and the like for processing, loading, unloading, etc.

Loading the Abstract Image...

First Claim