Printer, method of operating printer, and substrate handling mechanism

A substrate handling mechanism for a printer, the substrate handling mechanism comprising:

• a first actuator movably coupled to a first linear track extending in a first direction;
• a second actuator movably coupled to a second linear track extending in a second direction perpendicular to the first direction;
• and
• a controller coupled to the first actuator and the second actuator to control the first actuator and the second actuator to simultaneously move along the respective first and second tracks,
• wherein each of the first actuator and the second actuator comprises:
• a movable carriage,
• an arm extending in a direction perpendicular to the respective linear track, and
• an end-effector coupled to an end of the arm, the end-effector comprising a plurality of suction cups to contact an upper surface of a substrate adjacent to the respective linear tracks, the end-effector rotatably coupling the suction cups to the arm.

A method of handling a substrate in a printer, the method comprising:

• supporting a rectangular substrate on a gas cushion substrate support;
• engaging a first actuator and a second actuator, each actuator having a rotatable member with suction cups, at adjacent corners of an upper surface of the substrate using the suction cups;
• and
• rotating the substrate on the substrate support by simultaneously moving the first actuator in a first direction and the second actuator in a second direction transverse to the first direction while the rotatable members are free to rotate.