a substrate processing apparatus comprising a frame , a drive section , an articulated arm , and at least one pair of end effectors . the drive section is connected to the frame . the articulated arm is connected to the drive section . the articulated arm has a shoulder and a wrist . the arm is pivotally mounted to the drive section at the shoulder . the drive section is adapted to rotate the articulated arm relative to the frame about an axis of rotation at the shoulder , and to displace the wrist relative the shoulder . the pair of end effectors is connected to the articulated arm . the pair of end effectors is pivotally jointed to the wrist of the articulated arm to rotate relative to the articulated arm about a common axis of rotation at the wrist . each end effector is independently pivotable relative to each other about the common axis of rotation at the wrist . at least one end effector is independently pivotable about the common axis of rotation of the wrist relative to the articulated arm .