Asymmetric dual end effector robot arm
An apparatus includes a first arm comprising an unequal-link linkage having a first end effector; a second arm comprising an equal-link linkage having a second end effector; and a drive unit coupled to the first arm and the second arm, the drive unit being configured to move the first arm and the second arm. The first end effector is asymmetric to the second end effector. The first end effector is angled relative to the second end effector such that a first substrate support section on the first end effector is not positioned over or under a second substrate support section on the second end effector.
1. An apparatus, comprising:
at least one wall defining a chamber;
at least two substrate processing stations defined in the at least one wall and in an interior of the chamber;
a robot extending at least partially through the at least one wall of the chamber, the robot comprising,
a first arm comprising a linkage having two links of unequal length and having a first end effector,
a second arm comprising a linkage having two links of equal length and having a second end effector, and
a drive unit coupled to the first arm and the second arm, the drive unit being configured to move the first arm and the second arm,
wherein the first end effector is asymmetric to the second end effector, and
wherein the first end effector is angled relative to the second end effector such that a first substrate support section on the first end effector is not positioned over or under a second substrate support section on the second end effector; and
at least one controller connected to the robot and the at least two processing stations, the at least one controller comprising at least one processor and at least one memory comprising software configured to control a coordinated operation of at least the first arm relative to the second arm of the apparatus.
2. The apparatus of claim 1 , wherein the chamber defines a vacuum environment.
3. The apparatus of claim 1 , wherein an entrance into a first of the at least two substrate processing stations is oriented orthogonal to an entrance into a second of the at least two substrate processing stations.
4. The apparatus of claim 1 , wherein upon a movement of the first arm of the robot or the second arm of the robot, one of the first substrate support section on the first end effector or the second substrate support section on the second end effector does not travel over or under the other of the first substrate support section on the first end effector or the second substrate support section on the second end effector.
5. The apparatus of claim 1 , wherein linkages of one or both of the linkage having two links of equal length and the linkage having two links of unequal length are moved with at least one non-circular pulley.
6. The apparatus of claim 1 , wherein the first arm of the robot and the second arm of the robot are configured such that upon an extension movement of the first arm, the first end effector moves away from the second end effector.
7. The apparatus of claim 1 , wherein the first arm of the robot and the second arm of the robot are configured such that upon an extension movement of the second arm, the second end effector moves away from the first end effector.
8. The apparatus of claim 1 , wherein in a position of the linkage having two links of equal length in which one of the two links of equal length is positioned over the other of the two links of equal length, an orientation of the first end effector and the second end effector changes as the second end effector moves along a straight line.
9. The apparatus of claim 1 , wherein in a position of the linkage having two links of unequal length in which one of the two links of unequal length is positioned over the other of the two links of unequal length, an orientation of the first end effector and the second end effector changes as the first end effector moves along a straight line.
10. A method of transporting at least one substrate between a first station and a second station, the method comprising:
providing chamber defined by at least one wall, an interior of the chamber defining at least the first station and the second station;
providing a robot extending at least partially into the chamber, the robot comprising,
a first arm comprising a linkage having two links of unequal length and having a first end effector,
a second arm comprising a linkage having two links of equal length and having a second end effector, and
a drive unit coupled to the first arm and the second arm, the drive unit being configured to move the first arm and the second arm,
wherein the first end effector is asymmetric to the second end effector, and
wherein the first end effector is angled relative to the second end effector such that a first substrate support section on the first end effector is not positioned over or under a second substrate support section on the second end effector; and
rotating one or more of the first arm or the second arm about a shaft of the drive unit in a coordinated operation to cause the first or second end effector to pick the at least one substrate from the first station and place the at least one substrate into the second station.