{
  "abstract": "A substrate transfer apparatus according to one or more embodiments may include substrate transfer apparatus including: an end effector including: a hand that grips a substrate; and a plunger that comes into contact with the substrate and performs alignment of the substrate comprising a contact portion that comes into contact with the substrate by moving in a substrate direction. A contact portion of the substrate transfer apparatus according to one or more embodiments includes a contact bottom surface that comes into contact with the substrate and is inclined so that a thickness decreases toward a tip of the contact portion.",
  "assignees": [
    "KAWASAKI HEAVY IND LTD",
    "KAWASAKI ROBOTICS USA INC"
  ],
  "authors": [
    "NAKAHARA HAJIME",
    "TAN HARUHIKO"
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  "title": "Substrate transfer apparatus and substrate transfer method",
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