Editing Cartesian coordinate robot (section)

== Configurations ==
[[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}}</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.