Transferring apparatus and large transferring apparatus

A transferring apparatus comprising;

• a pedestal having a first axis;
• a first arm having a base end and a front end, the first arm swingably provided around the first axis, the front end having a second axis;
• a second arm having a base end and a front end, the second arm swingably provided around the second axis parallel with the first axis;
• a third arm having a front end, the third arm protruding from the front end of the second arm, in which the third arm performs liner motion against the second arm;
• a hand attached to the front end of the third arm;
• a drive means to swing the first arm reciprocatingly;
• a first circular plate having a center and a periphery, the first circular plate attached to the pedestal and the center is within the first axis;
• a second circular plate having a center and a periphery, the second circular plate attached to the base end of the second arm and the center is within the second axis;
• a torque transmission means interposed between the periphery of the first circular plate and the periphery of the second circular plate, in which the torque transmission swings the second arm synchronously with the first arm;
• an extend/retract drive means to extend and retract the third arm;
• a control means to control so that the front end of the third arm moves about linearly accompanying with a swing of the first arm.