초록

A calibrated mass damper for use with end effectors for semiconductor wafer handling robots is described. The calibrated mass damper reduces vibrational response in an end effector carrying a semiconductor wafer without requiring modification of the end effector structure.

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1. A device comprising: a mechanical interface configured to rigidly connect to an end effector of a wafer handling robot, the end effector: having an interface portion configured to connect the end effector to the wafer handling robot,having a thin finger extending away from the interface portion,

1. A device comprising: a mechanical interface configured to rigidly connect to an end effector of a wafer handling robot, the end effector: having an interface portion configured to connect the end effector to the wafer handling robot,having a thin finger extending away from the interface portion, andconfigured to support a wafer such that the finger is disposed underneath the wafer; anda calibrated mass damper (CMD), wherein: the mechanical interface is configured to attach the CMD to a tip of the finger opposite the interface portion,the CMD is greater than or equal to one-half pound-mass, andthe CMD is calibrated to produce at least one octave of separation between a first modal frequency of the end effector and a first modal frequency of the wafer that the end effector is configured to support. 2. The device of claim 1, wherein the CMD is approximately one-half pound-mass. 3. The device of claim 1, wherein the CMD is made from tungsten. 4. The device of claim 1, wherein the CMD is nickel-plated. 5. The device of claim 1, wherein: the end effector has a first length in a direction corresponding to a largest dimension of the end effector,the CMD and the end effector, when the CMD is installed on the end effector, have a combined second length in the direction corresponding to the largest dimension of the end effector, andthe second length does not exceed the first length by more than 1.35 inches. 6. The device of claim 1, wherein the CMD includes a housing and a calibration material, wherein: the calibration material is sealed inside the housing, andthe calibration material is granulated. 7. An end effector retrofit kit, the end effector retrofit kit comprising: a calibrated mass damper (CMD), wherein: the CMD includes a mechanical interface configured to rigidly connect to an end effector of a wafer handling robot, the end effector: having an interface portion configured to connect the end effector to the wafer handling robot,having a thin finger extending away from the interface portion, andconfigured to support a wafer such that the finger is disposed underneath the wafer, wherein the finger has a tip portion located on an opposite end of the finger from the interface portion and the mechanical interface portion of the CMD is configured to rigidly connect to the end effector by connecting to the tip portion;the CMD is greater than or equal to one-half pound-mass; andthe CMD is calibrated to produce at least one octave of separation between a first modal frequency of the end effector and a first modal frequency of the wafer that the end effector is configured to support. 8. The end effector retrofit kit of claim 7, further comprising: a standard CMD contact pad, wherein: the end effector includes one or more standard contact pads,the standard CMD contact pad includes a subset of the features of the standard contact pad,the standard CMD contact pad includes additional features configured to interface with and support the CMD, andthe standard CMD contact pad is configured to replace one of the standard contact pads of the end effector during retrofit. 9. The end effector retrofit kit of claim 7, further comprising: a backside CMD contact pad, wherein:the end effector includes one or more backside contact pads,the backside CMD contact pad includes a subset of the features of the backside contact pad,the backside CMD contact pad includes additional features configured to interface with and support the CMD, andthe backside CMD contact pad is configured to replace one of the backside contact pads of the end effector during retrofit. 10. The end effector retrofit kit of claim 7, further comprising: a modified arm, wherein: the modified arm is configured to replace an existing arm of the wafer handling robot during retrofit,the existing arm permits a first level of pitch adjustment for the end effector, andthe modified arm includes features configured to: rigidly interface with mating features on the end effector,rigidly interface with mating features on a carriage of the robot, andpermit a second level of pitch adjustment for the end effector which is greater than the first level of pitch adjustment provided by the existing arm. 11. The end effector retrofit kit of claim 7, wherein the CMD is approximately one-half pound-mass. 12. The end effector retrofit kit of claim 7, wherein the CMD is made from tungsten. 13. The end effector retrofit kit of claim 7, wherein the CMD is nickel-plated. 14. The end effector retrofit kit of claim 7, wherein: the end effector has a first length in a direction corresponding to a largest dimension of the end effector,the CMD and the end effector, when the CMD is installed on the end effector, have a combined second length in the direction corresponding to the largest dimension of the end effector, andthe second length does not exceed the first length by more than 1.35 inches. 15. The end effector retrofit kit of claim 7, wherein the CMD includes a housing and a calibration material, wherein: the calibration material is sealed inside the housing, andthe calibration material is granulated. 16. An end effector, the end effector comprising: a mechanical interface portion, a first side of the mechanical interface portion configured to rigidly connect to an arm of a wafer handling robot;a finger portion, the finger portion extending from the mechanical interface portion in a direction generally opposed to the first side;a tip, the tip located at an end of the finger portion opposite the mechanical interface portion, wherein the end effector is configured to support a semiconductor wafer during wafer transfer operations such that the finger portion is disposed underneath the wafer; anda calibrated mass damper (CMD), wherein: the CMD is proximate to the tip,the CMD is greater than or equal to one-half pound-mass, andthe CMD is calibrated to produce at least one octave of separation between a first modal frequency of the end effector and a first modal frequency of the semiconductor wafer. 17. The end effector of claim 16, wherein the CMD is approximately one-half pound-mass. 18. The end effector of claim 16, wherein the CMD is made from tungsten. 19. The end effector of claim 16, wherein the CMD is nickel-plated.