Dual robotic arm end effectors
Dual robotic arm end effectors
Applicant: Genmark Automation, Inc., USAPatent number: US6,121,743Publication date: 15 May 2001Title: Dual robotic arm end effectors having independent yaw motion
This patent describes an improvement in a robotic arm structure which includes at least two links and provides theta- and R-motion. It relates to a precision arm mechanism which can extend and retract in a straight line and is also movable in a desired non-straight line path. In certain embodiments the robotic arm can be tilted from its usually vertical axis to correct for misalignment of workpieces. It can pick up and deliver workpieces located at an angle from its plane of normal operation. It is suitable for positioning various objects such as semiconductor wafers, cassettes holding such wafers, panels, and computer hard discs.
Jon Rigelsford
