52 Unit One Principles of Robotics
Z
Y
X
Designated point
Point of origin
Vector or line of travel
Figure 2-32. With a Cartesian confi guration, the robot can move directly to a designated point, rather
than moving in lines parallel to each axis. In this example, movement is along the vector connecting
the point of origin and the designated point, rather than moving fi rst along the X axis, then Y, then Z.
Standard Configuration Gantry Configuration
Work envelope
showing volume
generated
Work envelope
showing volume
generated
Figure 2-33. In either the standard or gantry construction, a Cartesian confi guration robot creates a
rectangular work envelope.