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Robotic system and method for transport of materials with minimization of footprint size

  • US 6,988,518 B2
  • Filed: 06/02/2004
  • Issued: 01/24/2006
  • Est. Priority Date: 06/02/2004
  • Status: Active Grant
First Claim
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1. A robotic transfer system, comprising:

  • a control system;

    a frame;

    a plurality of first actuators attached to the frame;

    a plurality of linear bearings attached to the frame wherein each of the plurality of linear bearings is controlled to be moveable to any position by one corresponding actuator in the plurality of first actuators only in a first axis of motion;

    a plurality of shelves each containing a plurality of targets wherein each shelf in the plurality of shelves is attached to one corresponding bearing in the plurality of linear bearings and wherein each of said plurality of shelves is stacked in a vertical arrangement;

    an arm attached to the frame and moveable only in two axes of motion both orthogonal to the first axis of motion, wherein the arm comprises;

    a second actuator that moves only in one of the two axes of motion; and

    a third actuator that moves only in the other of the two axes of motion; and

    an end effector attached to the third actuator;

    the control system electronically coupled to the plurality of first actuators and the second and third actuators, wherein the control system controls coupling the end effector to one of the plurality of targets by controlling an actuator in the plurality of first actuators corresponding to the shelf containing the one of the plurality of targets to independently move in the first axis of motion, and controlling the second and third actuators to move in the two axes of motion to align the end effector with the one of the plurality of targets, wherein said second and third actuators are not controllable to move in the first axis of motion.

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