Chapter 2 Fundamentals of Robotics 51
Cartesian Configuration
The arm movement of a robot using the Cartesian configuration can
be described by three intersecting perpendicular straight lines, referred to
as the X, Y, and Z axes (Figure 2-31). Because movement can start and stop
simultaneously along all three axes, motion of the tool tip is smoother. This
allows the robot to move directly to its designated point, instead of following
trajectories parallel to each axis, Figure 2-32. The rectangular work envelope
of a typical Cartesian configuration is illustrated in Figure 2-33. (Refer to
Figure 2-13 for an example of a Cartesian gantry robot.)
One advantage of robots with a Cartesian configuration is that their totally
linear movement allows for simpler controls, Figure 2-34. They also have a
high degree of mechanical rigidity, accuracy, and repeatability. They can carry
heavy loads, and this weight lifting capacity does not vary at different locations
within the work envelope. As to disadvantages, Cartesian robots are generally
limited in their movement to a small, rectangular work space.
Typical applications for Cartesian robots include the following:
• Assembly
• Machining operations
• Adhesive application
• Surface finishing
• Inspection
• Waterjet cutting
• Welding
• Nuclear material handling
• Robotic X-ray and neutron radiography
• Automated CNC lathe loading and operation
• Remotely operated decontamination
• Advanced munitions handling
X
Z
Y
Figure 2-31. A robot with a Cartesian confi guration moves along X, Y, and Z axes. (Yamaha)