A substrate transport empiric arm droop mapping apparatus for a substrate transport system of a processing tool, the mapping apparatus including a frame, an interface disposed on the frame forming datum features representative of a substrate transport space in the processing tool defined by the substrate transport system, a substrate transport arm, that is articulated and has a substrate holder, mounted to the frame in a predetermined relation to at least one of the datum features, and a registration system disposed with respect to the substrate transport arm and at least one datum feature so that the registration system registers, in an arm droop distance register, empiric arm droop distance, due to arm droop changes, between a first arm position and a second arm position different than the first arm position and in which the substrate holder is moved in the transport space along at least one axis of motion.

A transfer apparatus includes a base, a first holder, a second holder offset from the first holder in a first direction, and a movement mechanism for moving the first holder and the second holder relative to the base in a plane parallel to the first direction. The movement mechanism includes a swing member, a first link arm and a second link arm. The swing member is pivotally supported on the base. The first link arm is pivotally connected to the first holder. The first link arm is also connected to the swing member for pivoting about a first intermediate axis extending in a second direction perpendicular to the first direction. The second link arm is pivotally connected to the second holder. The second link arm is also connected to the swing member for pivoting about a second intermediate axis extending in the second direction. The first intermediate axis is offset from the second intermediate axis in the first direction.

A workpiece conveying apparatus includes: two SCARA robots each including a first arm supported on a raising and lowering frame through intermediation of a first joint, a second arm supported through intermediation of a second joint, a first arm driving mechanism configured to drive the first arm to rotate, and a second arm driving mechanism configured to drive the second arm to rotate; a raising and lowering mechanism for the two SCARA robots; a cross arm configured to couple distal ends of the second arms; a workpiece holding unit configured to releasably hold the workpiece; shifting devices provided to the cross arm and configured to shift a drive-side shifting member; and sliding devices provided to the workpiece holding unit and configured to shift the tool holder by an operation of causing the driven-side shifting member to be driven by the drive-side shifting member.

The invention relates to a curved spherical scissors linkage mechanism (1) comprising at least four linkage elements (2) each having a first end (3) and a second end (4); the linkage elements are arranged to form sides of one rhombus or parallelogram, or a series, such as a network, of joined rhombi or parallelograms. Each of the linkage elements is rotationally connected to one of the other linkage elements via a revolute joint (5) at or near the first end and is rotationally connected to another one of the other linkage elements via another revolute joint at or near the second end. The linkage elements are shaped, dimensioned and arranged so that the axes of all the revolute joints coincide at one common remote centre of motion (RCM). Furthermore, the mechanism is grounded or connected or connectable to a first external member (7) at a proximal end and is rotationally connected or connectable to a second external member (9) at an opposite distal end. Hereby a spherical linkage mechanism with three DOFs is obtained. The spherical scissors linkage mechanism may further comprise a motion controlling mechanism at the proximal and/or at the distal end. It further comprises actuator means as control means.

A haptic feedback device includes: a first feedback apparatus, including: a fixed platform, a movable platform, a ring disposed on the movable platform, and a power unit disposed on the fixed platform and connected to the movable platform. The power unit is configured to obtain a first control signal generated by a controller and output torsion according to the first control signal. The movable platform is configured to be driven by the torsion to move relative to the fixed platform. The ring is configured to provide feedback force as the movable platform moves, to implement haptic feedback.

A substrate transport empiric arm droop mapping apparatus for a substrate transport system of a processing tool, the mapping apparatus including a frame, an interface disposed on the frame forming datum features representative of a substrate transport space in the processing tool defined by the substrate transport system, a substrate transport arm, that is articulated and has a substrate holder, mounted to the frame in a predetermined relation to at least one of the datum features, and a registration system disposed with respect to the substrate transport arm and at least one datum feature so that the registration system registers, in an arm droop distance register, empiric arm droop distance, due to arm droop changes, between a first arm position and a second arm position different than the first arm position and in which the substrate holder is moved in the transport space along at least one axis of motion.

This disclosure concerns methods for processing and grading food articles including x-raying the food articles a first time and taking a 3D image of the food articles.

An arrangement for automatically removing a strip of dark meat from a fish fillet has a conveying unit for transporting the fish fillet from an inlet to an outlet area in a transport direction along a transport path. Starting from the inlet area, successively along the transport path, are provided: a first means for detecting dark meat; a first cutting apparatus for removing a middle partial strip of dark meat; a means for opening up the fillet such that cut surfaces of a ventral-side partial and of a dorsal-side partial strip of dark meat point upwards; a cutting unit for removing the partial strips, the cutting unit comprising second and third cutting apparatuses for removing the ventral and dorsal-side partial strips. A control device is connected to the detecting means and the cutting apparatuses, and all cuts are based on information from the detecting means. A corresponding method is provided.

A substrate transfer robot for transferring a substrate in a vacuum chamber, includes: a transfer arm platform having coupling holes, wherein link connecting members with blades are engaged at front and rear areas of the transfer arm platform and a support shaft of a lower support is inserted into the lower space of one of the coupling holes; and a first and a second transfer arm part each including an end effector for supporting the substrate, multiple transfer link arms, multiple subordinate link arms and a common link arm that are connected to each other or to the transfer arm platform, wherein, the transfer link arms include at least some of drive shafts, interlocked with transfer driving motors or speed reducers, and output shafts interlocked with the drive shafts, and wherein the end effectors are positioned at different heights from each other through using a bracket.

A two-degree-of-freedom parallel robot with a spatial kinematic chain includes a fixed platform, a movable platform, two driving devices, and two branch chains. Each driving device includes an active arm and a driving unit, and the two active arms are in the same reference plane. An end bracket is hinged on the active arm. Each branch chain includes two shaft rods and two chain rods. One of the two shaft rods is arranged on the active arm or the end bracket, and the other one thereof is arranged on the movable platform. The two chain rods and the two shaft rods form a parallelogram.