An improved radial-theta manipulator apparatus.

摘要

A manipulator arm apparatus comprises a radial arm assembly (for linear movement) and a theta axis assembly (for angular movement about a theta axis); the radial arm assembly is secured to the theta axis assembly which provides 320 DEG degree horizontal rotation of the manipulator arm assembly in response to position signals from a control console. A ball screw drive mechanism mechanically positions a carriage along a dual rail guide system in the radial manipulator arm assembly in response to position signals from the control console. A module consisting of a vertical stroke unit and an end effector is attached to the carriage to service a work-envelope defined essentially by the radial travel of the carriage, the degree of rotation of the theta axis assembly, and the vertical movement of the end effector.