Robot having multiple degrees of freedom

US5789890A · kind A · utility

Assignee

• GENMARK AUTOMATION, INC. · US

Inventors

• Genco Genov · San Jose, US
• Alexander Todorov · Santa Clara, US
• Lubo Kostov · Sunnyvale, US
• Peter Petkov · Sunnyvale, US
• Valentin Totev · Sunnyvale, US
• Eugene Bonev · Los Gatos, US
• Zlatko Sotirov · Sunnyvale, US

Key dates

• Filing date: Jan 23, 1997
• Grant date: Aug 4, 1998
• Expiry date: Jan 23, 2017

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S700/90
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

An improvement is set forth in a robotic arm structure which includes at least two links. .theta. motion is provided about a primary axis at the proximal end portion of the proximalmost of the links. R motion proceeds radially from the primary axis whereby the distal end portion of the distalmost of the links can be moved in a radially extending straight line. An end effector is pivotally mounted for rotation relative to the distal end portion of the distalmost link about an end effector axis which is parallel to the primary axis. The structure is improved by adding one or more of a yaw motor, a roll motor and a pitch motor for rotating the wrist of the arm about the respective axes. A sensor array senses the R, .theta., Z and yaw, roll and/or pitch motions and creates and transmits electronic signals representative thereof to a computer controller which monitors and controls the R, .theta., Z and yaw, roll and/or pitch motions. Non-radial straight line motion and indeed, in certain embodiments any desired three-dimensional motion, is thereby enabled as is picking up of workpieces such as semiconductor wafers, flat panel displays and data storage disks, which are misaligned in cass…