Dual robotic arm end effectors having independent yaw motion

US6121743A · 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: Aug 4, 1998
• Grant date: Sep 19, 2000
• Expiry date: Aug 4, 2018

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S414/137
• 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. At least two independent end effectors are 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 independent yaw motors for rotating the end effectors independently.