A substrate conveyer robot inserts and removes a substrate to and from a
an arbitrarily positioned container. A base is rotatably driven by a
first motor which defines a pivotal center. A first spindle is rotated by
a second motor independent of rotation of the base, is positioned
coaxially with the pivotal center, and one end of a first arm is attached
to the first spindle. A second spindle on the other end of the first arm
is rotated by a gear ratio 2:1, and one end of a second arm is attached
to the second spindle. A third spindle is carried on the other end of the
second arm and is rotated by a gear ratio 1:2. One end of a third arm is
attached to the third spindle, and a hand for holding a substrate is
attached on the other end of the third arm.