Dual end effector, multiple link robot arm system with corner reacharound and extended reach capabilities

摘要

A multiple link robot arm system has straight line motion, extended reach, corner reacharound, and continuous bidirectional rotation capabilities for transporting specimens to virtually any location in an available work space that is free of lockout spaces. Each of two embodiments includes two end effectors or hands. A first embodiment comprises two multiple link robot arm mechanisms mounted on a torso link that is capable of 360 degree rotation about a central axis. Each robot arm mechanism includes an end effector having a single hand. A second embodiment has only one of the robot arm mechanisms and has an end effector with two oppositely extending hands. Each robot arm mechanism uses two motors capable of synchronized operation to permit movement of the robot arm hand along a curvilinear path as the extension of the hand changes. A third motor rotates the torso link about the central axis and permits rotation of the torso link independent of the motion of the robot arm mechanism or mechanisms mounted to it. The presence of the rotatable torso link together with the independent robot arm motion provides a high speed, high throughput robot arm system that operates in a compact work space.