Robot Having Vertically Oriented Articulated Arm Motion

A robotic structure providing theta-motion, R-motion and Z-motion comprising:

• a platform;
• a rotatable base mounted to the platform and adapted to rotate in theta about the platform;
• a Z-tower attached to the rotatable base, wherein the Z-tower rotates with the rotatable base;
• a vertical drive configured within the Z-tower;
• a drive mechanism adapted to integrate with the vertical drive for linear movement along Z-locations of the Z-tower along a Z-axis;
• a dual arm structure coupled to the drive mechanism and comprising a first arm and a second arm, wherein each arm includes at least two linkages, wherein each arm is rotatably attached to the drive mechanism and is further adapted for Z-articulation in a corresponding vertical plane along the Z-axis for an R-axis, the Z-articulation providing additional Z-movement at each of the Z-locations using the at least two linkages of the corresponding arm, wherein each arm comprises a first linkage and a second linkage, wherein the first linkage rotates within a first vertical plane and the second linkage rotates within a second vertical plane, wherein the first vertical plane and the second vertical plane are offset and parallel;
• a first gripper adapted to attach to a first pivot of the first arm, the first pivot located at a distal end of the first arm, wherein the first gripper is pivotably mounted for rotation relative to the distal end of the first arm, the first gripper adapted to interface with a first corresponding object;
• and
• a second gripper adapted to attach to a second pivot of the second arm, the second pivot located at a distal end of the second arm, wherein the second gripper is pivotably mounted for rotation relative to the distal end of the second arm, the second gripper adapted to interface with a second corresponding object.

A robotic structure providing theta-motion, R-motion and Z-motion comprising:

• a platform;
• a rotatable base mounted to the platform and adapted to rotate in theta about the platform;
• a Z-tower attached to the rotatable base, wherein the Z-tower rotates with the rotatable base;
• a vertical drive configured within the Z-tower;
• a drive mechanism adapted to integrate with the vertical drive for linear movement along the Z-tower along a Z-axis;
• an arm comprising a first linkage and a second linkage, wherein the arm is rotatably attached to the drive mechanism and is further adapted for z-articulation in a corresponding vertical plane along an R-axis and the Z-axis;
• and
• a universal interface adapted at a first end to connect to the pivot located at the distal end of the arm, wherein a second end of the universal interface is adapted to releasably attach to one or more grippers, each gripper uniquely adapted to interface with a corresponding object, wherein each gripper is pivotably mounted for rotation relative to the distal end, wherein each gripper being adapted to interface with a corresponding object,
• wherein the first linkage is attached to the drive mechanism at a rotatable shoulder joint configured for relative movement of the first linkage with respect to the drive mechanism in the corresponding vertical plane,
• wherein a rotatable arm joint connecting the first linkage and the second linkage allows for relative vertical movement between the first and second linkages in the corresponding vertical plane.