In a material transfer device, an articulated arm assembly extends and retracts in a "froglike" motion to transfer an object between a plurality of locations. The articulated arm assembly is rotatable about a pivot point in a radial plane and can be raised or lowered in an axial direction to align the...http://www.google.de/patents/US4909701?utm_source=gb-gplus-sharePatent US4909701 - Articulated arm transfer device
