Universally tiltable elevator structure for positioning an apparatus for picking up an article

摘要

1. A workpiece handling system comprises a robotic arm mechanism (66) which provides R-, &thetas;- and Z-motion of an end effector adapted to pick up and transport workpieces. The robotic arm mechanism is mounted on an elevator (10) for linear motion along a motion axis of the elevator to provide Z-motion for the arm mechanism as a whole. Universal direction tilting means (30, 36, 38) are provided for tilting the elevator as a whole in any selected direction relative to its motion axis.