Robot having a variable transmission ratio

A transport apparatus comprising:

• a drive having a first drive axis rotatable about a first axis of rotation and a second drive axis rotatable about a second axis of rotation, the second drive axis being coaxial with the first drive axis;
• and
• a robot arm connected to the drive, where the robot arm comprises:
• an upper arm connected to the drive at the first drive axis,
• a forearm connected to the upper arm, where the forearm is coupled to the upper arm at a first rotary joint and rotatable about the first rotary joint, where the first rotary joint is actuatable by a first band arrangement coupled to the second drive axis, and
• an end effector coupled to the forearm, where the end effector is coupled to the forearm at a second rotary joint and rotatable about the second rotary joint, where the second rotary joint is actuatable by a second band arrangement coupled to the first rotary joint, wherein the second band arrangement comprises at least one pulley having a non-circular profile and is configured to provide a transmission that varies a ratio of a speed of rotation of the end effector about the second rotary joint relative to a speed of rotation of the forearm about the first rotary joint, where the apparatus is configured such that a nominal center of the end effector follows a predetermined path with a predetermined non-constant orientation of the end effector relative to the predetermined path.