Cartesian coordinate robot: Difference between revisions

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{{short description|IndustrialRobot robot whose three principalwith axes of control that are linear and are at right angles to each otherorthogonal}}

[[Image:Descartes configuration.png|thumb|right|[[Kinematic diagram]] of Cartesian (coordinate) robot]]

[[File:Hp 9862a.jpg|thumb|A [[plotter]] is ana implementationtype of the Cartesian coordinate robot.]]

A '''cartesianCartesian coordinate robot''' (also called '''linear robot''') is an [[industrial robot]] whose three [[principal axis (mechanics)|principal axes]] of control are linear (i.e. they move in a straight line rather than rotate) and are at [[right angle]]s to each other.<ref>{{Cite book|title=Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing|lastlast1=Zhang|firstfirst1=Dan|last2=Wei|first2=Bin|date=2016|publisher=Springer|year=|isbn=978-3-319-33580-3|___location=Cham|pages=31}}</ref> The three [[Prismatic joint|sliding joints]] correspond to moving the wrist up-down, in-out, back-forth. Among other advantages, this mechanical arrangement simplifies the [[Robotrobot control]] [[arm solution]]. It has high reliability and precision when operating in three-dimensional space.<ref>{{Cite book|title=Advanced High Strength Steel And Press Hardening - Proceedings Of The 4th International Conference On Advanced High Strength Steel And Press Hardening (Ichsu2018)|lastlast1=Mingtu|firstfirst1=Ma|last2=Yisheng|first2=Zhang|date=2018|publisher=World Scientific|year=|isbn=978-981-327-797-7|___location=Singapore|pages=526}}</ref> As a robot coordinate system, it is also effective for horizontal travel and for stacking bins.<ref>{{Cite book|title=Fundamentals of Robotics Engineering|last=Poole|first=Harry H.|date=2012|publisher=Van Nostrand Reinhold|year=|isbn=978-94-011-7052-9|___location=New York|pages=35}}</ref>

{{refimprove|date=April 2017}}

A '''cartesian coordinate robot''' (also called '''linear robot''') is an [[industrial robot]] whose three [[principal axis (mechanics)|principal axes]] of control are linear (i.e. they move in a straight line rather than rotate) and are at [[right angle]]s to each other.<ref>{{Cite book|title=Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing|last=Zhang|first=Dan|last2=Wei|first2=Bin|date=2016|publisher=Springer|year=|isbn=978-3-319-33580-3|___location=Cham|pages=31}}</ref> The three sliding joints correspond to moving the wrist up-down, in-out, back-forth. Among other advantages, this mechanical arrangement simplifies the [[Robot control]] [[arm solution]]. It has high reliability and precision when operating in three-dimensional space.<ref>{{Cite book|title=Advanced High Strength Steel And Press Hardening - Proceedings Of The 4th International Conference On Advanced High Strength Steel And Press Hardening (Ichsu2018)|last=Mingtu|first=Ma|last2=Yisheng|first2=Zhang|date=2018|publisher=World Scientific|year=|isbn=978-981-327-797-7|___location=Singapore|pages=526}}</ref> As a robot coordinate system, it is also effective for horizontal travel and for stacking bins.<ref>{{Cite book|title=Fundamentals of Robotics Engineering|last=Poole|first=Harry H.|date=2012|publisher=Van Nostrand Reinhold|year=|isbn=978-94-011-7052-9|___location=New York|pages=35}}</ref>

== Configurations ==

[[Cartesian coordinate]] robots with the horizontal member supported at both ends are sometimes called Gantry robots; mechanically, they resemble [[gantry crane]]s, although the latter are not generally robots. Gantry robots are often quite large.

[[File:Zaber motorized linear stage.jpg|thumb|[[Linear stage]]]]

[[File:Robot Portico tecno-840.jpg|thumb|Gantry robot]]

Robots have [[Mechanism (engineering)|mechanisms]] consisting of rigid links connected together by [[Kinematic pair|joints]] with either linear (prismatic ''P'') or rotary (revolute ''R'') motion, or combinations of the two.<ref>{{Cite book|last=Craig|first=John|title=Introduction to Robotics. Mechanics and Control|publisher=Addison-Wesley|year=1989|isbn=978-0-201-09528-9}}</ref><ref>{{Citation|last=Dagalakis|first=Nicholas G.|title=Industrial Robotics Standards|url=http://dx.doi.org/10.1002/9780470172506.ch24|work=Handbook of Industrial Robotics|year=1999|pages=447–459|place=Hoboken, NJ, USA|publisher=John Wiley & Sons, Inc.|doi=10.1002/9780470172506.ch24|isbn=978-0-470-17250-6|access-date=2020-12-28|url-access=subscription}}</ref>  Active prismatic ''P'' and active revolute ''R'' joints are driven by motors under programmable control to manipulate objects to perform complex automated tasks. The linear motion of active prismatic ''P'' joints may be driven by rotary motors through gears or pulleys. Cartesian coordinate robots are controlled by mutually [[Perpendicular#:~:text=In elementary geometry, the property,intersect at a right angle.|perpendicular]] active prismatic ''P'' joints that are aligned with the ''X, Y, Z'' axes of a [[Cartesian coordinate system]].<ref>{{Cite journal|last=Descartes|first=Rene|date=2009-01-01|title=Discourse on the method of rightly conducting the reason, and seeking truth in the sciences|url=http://dx.doi.org/10.5214/ans.0972.7531.2009.160108|journal=Annals of Neurosciences|volume=16|issue=1|pages=17–21|doi=10.5214/ans.0972.7531.2009.160108|issn=0972-7531|hdl=2027/loc.ark:/13960/t20c64v5p|hdl-access=free|url-access=subscription}}</ref><ref>{{Cite journal|last=Klubertanz|first=George P.|date=1969|title=Discourse on Method, Optics, Geometry, and Meteorology. By Rene Descartes. Trans, with Introd. Paul J. Olscamp|url=http://dx.doi.org/10.5840/schoolman196946493|journal=The Modern Schoolman|volume=46|issue=4|pages=370–371|doi=10.5840/schoolman196946493|issn=0026-8402|url-access=subscription}}</ref>  Although not strictly ‘robots’, other types of [[Manipulator (device)|manipulators]], such as computer [[Numerical control|numerically controlled]] (CNC) machines, [[3D printing#Processes and printers|3D printers]] or [[Plotter|pen plotters]], also have the same mechanical arrangement of mutually perpendicular active prismatic ''P'' joints.

=== Joint topology ===

A single chain of links and joints connects a moving object to a base of [[serial manipulator]]s. Multiple chains (limbs) connect the moving object to the base of [[parallel manipulator]]s.<ref>Z. Pandilov, V. Dukovski, Comparison of the characteristics between serial and parallel robots, Acta Technica Corviniensis-Bulletin of Engineering, Volume 7, Issue 1, Pages 143-160</ref>  Most Cartesian coordinate robots are fully serial or a combination of serial and parallel connected linkages.  However, there are some Cartesian coordinate robots that are [[Cartesian parallel manipulators|fully parallel-connected]].<ref>{{Cite book|last1=Gosselin|first1=Clement M.|last2=Masouleh|first2=Mehdi Tale|last3=Duchaine|first3=Vincent|last4=Richard|first4=Pierre-Luc|last5=Foucault|first5=Simon|last6=Kong|first6=Xianwen|title=Proceedings 2007 IEEE International Conference on Robotics and Automation |chapter=Parallel Mechanisms of the Multipteron Family: Kinematic Architectures and Benchmarking |date=2007|chapter-url=http://dx.doi.org/10.1109/robot.2007.363045|pages=555–560|publisher=IEEE|doi=10.1109/robot.2007.363045|isbn=978-1-4244-0602-9|s2cid=5755981}}</ref><ref>{{Cite journal|last=Gogu|first=Grigore|date=2004|title=Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations|url=http://dx.doi.org/10.1016/j.euromechsol.2004.08.006|journal=European Journal of Mechanics - A/Solids|volume=23|issue=6|pages=1021–1039|doi=10.1016/j.euromechsol.2004.08.006|bibcode=2004EuJMA..23.1021G|issn=0997-7538|url-access=subscription}}</ref><ref>{{Cite journal|last=Wiktor|first=Peter|date=2020|title=Coupled Cartesian Manipulators|journal=Mechanism and Machine Theory|volume=161|pages=103903|doi=10.1016/j.mechmachtheory.2020.103903|issn=0094-114X|doi-access=free}}</ref>

=== Degrees of freedom ===

Since they are driven by linear active prismatic ''P'' joints, Cartesian coordinate robots typically manipulate objects with only linear translation ''T'' [[Degrees of freedom (mechanics)|degrees of freedom]].  However, some Cartesian coordinate robots also have [[Cartesian parallel manipulators|rotational ''R'' degrees of freedom]].<ref>{{Cite journal|last=Gogu|first=G.|date=January 2009|title=Structural synthesis of maximally regular T3R2-type parallel robots via theory of linear transformations and evolutionary morphology|url=http://dx.doi.org/10.1017/s0263574708004542|journal=Robotica|volume=27|issue=1|pages=79–101|doi=10.1017/s0263574708004542|s2cid=32809408|issn=0263-5747|url-access=subscription}}</ref>

=== Construction ===

Each axis of a Cartesian coordinate robot typically is a [[linear stage]] consisting of a linear [[actuator]] geometrically parallel with [[Linear-motion bearing|linear bearings]]. The linear actuator is typically between two linear bearings spaced apart from each other to support [[Moment (physics)|moment]] loads.  Two perpendicular linear stages stacked on top of each other form a [[X-Y table|XY table]].  Examples of XY tables include the XY axes of [[Milling (machining)|milling machines]] or precision positioning stages. At least one of the linear stages of [[cantilever]]ed Cartesian coordinate robots is supported at only one end. Cantilevered construction provides accessibility to parts for pick-and-place applications such as [[laboratory automation]] for example. Cartesian coordinate robots with the horizontal member supported at both ends are sometimes called gantry robots; mechanically, they resemble [[gantry crane]]s, although the latter are not generally robots. Gantry robots are often quite large and may support heavy loads.

==Applications==

APopular popular applicationapplications for thisCartesian typecoordinate ofrobots robot is aare computer numerical control machinemachines ([[CNC machine]]) and [[3D printing]]. The simplest application is used in milling machines and drawing machines[[plotter]]s where a pentool orsuch as a router or pen translates across an x''X-yY'' plane while a tooland is raised and lowered onto a surface to create a precise design. [[Automated storage and retrieval system|Pick and place]] machines and [[plotter]]s are also based on the principal of the cartesian coordinate robot.

Industrial[[Automated gantrystorage typeand cartesianretrieval robotsystem|Pick isand applied on [[CNCplace]] lathesmachines productionare lineanother application for continuousCartesian partscoordinate loading and unloadingrobots.  ItFor performsexample, 3-axisoverhead (X,gantry Y,Cartesian androbots Z)are linear[https://robot.cfp.co.ir/en/robots/cartesian-gantry movementapplied] infor highcontinuous speedparts performanceloading toand saveunloading numberson of[[CNC]] operators.lathes Inproduction additionlines, theperforming robot3-axis is''(X, ableY, to handle heavy loads ofZ)'' pick and place partsoperations feedingof procedureheavy loads with high positioningspeed accuracy. Some special requirements might be low noiseperformance and customizedhigh supplypositioning table, which is made according to number of storageaccuracy.  SinceIn handling is usually above the CNCgeneral, overhead gantry is also a common term to describe this type of [[robotic arm]]. OverheadCartesian designrobots isare suitable for mostmany [[automation]] systemsystems.<ref>{{cite web|title=When do you need a gantry robot|url=http://www.linearmotiontips.com/when-do-you-need-a-gantry-robot/|website=Linear Motion Tips|date=27 February 2015|publisher=Danielle Collins|accessdateaccess-date=21 September 2017}}</ref>

==See also ==

* [[List of 3D modeling software]]

* [[Robotic arm]]

* [[Cartesian parallel manipulators]]

*[[Industrial robot]]

== References==

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[[Category:Robot kinematics]]

[[Category:3D printing]]

[[Category:CNCNumerical control]]

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