An improvement is Set forth in a robotic arm Structure which includes at least two linkS. 0
motion is provided about a primary axis at the proximal end portion of the proximal most of
the links. R motion proceeds radially from the primary axis whereby the distal end portion of
the distalmost of the links can be moved in a radially extending Straight line. At least two
independent end effectors are pivotally mounted for rotation relative to the distal end portion
of the distalmost link about an end effector axis which is parallel to the primary axis. The …