Robot having arm with unequal link lengths and non-circular pulley
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United States of America Patent
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Dec 12, 2017
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app pub date -
Aug 17, 2015
filing date -
Jan 18, 2013
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Abstract
A transport apparatus including a drive; a first arm connected to the drive, where the first arm includes a first link, a second link and an end effector connected in series with the drive, where the first link and the second link have different effective lengths; and a system for limiting rotation of the end effector relative to the second link to provide substantially only straight movement of the end effector relative to the drive when the first arm is extended or retracted.
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