Cartesian robot (sometimes called a rectangular robot, linear robot, or gantry robot) has a manipulator with three prismatic joints whose axes form a Cartesian coordinate system. Modified Cartesian robots are available with two prismatic joints. Still, they don't meet the ISO 8373 requirement that they must be "programmable in three or more axes" and so aren't technically robots. There's more than one way to configure three prismatic joints and, therefore, more than one way to configure a Cartesian robot. In a basic Cartesian topology, all three joints are at right angles, with one moving in the x-axis, attached to a second one moving in the y-axis, that's attached to a third one moving in the z-axis. Although often used as a synonym for a Cartesian robot, the gantry topology is not identical. Like a basic Cartesian, gantry robots
support linear motions in three- dimensional space. But gantry robots are configured with two base x-axis rails, a supported y-axis rail spanning the two x axes, and a cantilevered z-axis attached to the y-axis. For example, the DLE-RG- 0012-AC-800-800-500, from Igus, is a gantry robot with an 800 mm x 800 mm x 500 mm work area that
can carry up to 5 kg and move at up to 1.0 m/s with a repeatability of ±0.5 mm (Figure 2). Cylindrical robot has a manipulator with at least one rotary joint and at least one prismatic joint, whose axes form a cylindrical coordinate system.
Figure 2: Gantry robot with an 800 mm x 800 mm x 500 mm workspace. (Image source: Igus)
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