Multi-degree-of-freedom robot

(57) Abstract: robot arm construction (10) comprises at least two links (Link 1, Link 2). θ operation is given about the link most proximal first axis of the proximal portion of the (Link 1) (z1). R operation is advanced radially from the first axis (z1), whereby the end portion of the outermost end of the link (link 3) move along a straight line extending in the radial direction. The end effector (18) is mounted pivotably such that it can rotate with respect to the distal portion of the first axis (z1) and parallel to the end effector axis uppermost end of the link around the (link 3). Structure (10) rotates the wrist of the arm (10) about the respective axes, yaw motors, is improved by adding the pitch motor, and one or more of the roll motor (servomotor 3). Sensor array, r, theta, z and yaw operation, pitch operation, and detects the one or more rolling operation, generates an electrical signal representative of them is transmitted to the computer controller (96), the computer r, theta , z, and a yaw operation, pitch operation, and to monitor and control one or more rolling operation. Non radial line operation and a three-dimensional operation are possible. Even or crazy alignment of the object, and / or holding a cassette or even crazy of alignment from normal operation plane arm (10) of the workstation, a semiconductor wafer, a flat panel display, and data storage disk the can be applied to pick up.