Abstract: A substrate unloading system comprising a gripper mounted on a slanted plane and movable along the slanted plane, and a platen onto which the substrate is attached, the platen configured to be moved down in a vertical direction and away from the gripper in a horizontal direction, the gripper and the platen configured to move simultaneously so that the substrate remains substantially horizontal.

Abstract: A substrate unloading system comprising a gripper mounted on a slanted plane and movable along the slanted plane, and a platen onto which the substrate is attached, the platen configured to be moved down in a vertical direction and away from the gripper in a horizontal direction, the gripper and the platen configured to move simultaneously so that the substrate remains substantially horizontal.

Abstract: A printing system comprising a load station to load one or more substrates, a first platen to receive the substrates movably connected to a first side of the system, a second platen to receive the substrates, movably connected to a second side of the system opposite the first side, a platen transport system operatively connected to the load station, the platen transport system moving the first and second platens in the system, an alignment station which aligns the one or more substrates on the first and second platens, a print station which prints the one or more substrate on the first and second platens, and an unload station which unloads the one or more substrates nom the first and second platens, the transport system comprising means to move the platens in a horizontal and vertical direction.