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Kinematic diagram of Cartesian (coordinate) robot A plotter is a type of Cartesian coordinate robot.. A Cartesian coordinate robot (also called linear robot) is an industrial robot whose three principal axes of control are linear (i.e. they move in a straight line rather than rotate) and are at right angles to each other. [1]
Cartesian robots, [5] also called rectilinear, gantry robots, and x-y-z robots [6] have three prismatic joints for the movement of the tool and three rotary joints for its orientation in space. To be able to move and orient the effector organ in all directions, such a robot needs 6 axes (or degrees of freedom).
In robotics, Cartesian parallel manipulators are manipulators that move a platform using parallel-connected kinematic linkages ('limbs') lined up with a Cartesian coordinate system. Multiple limbs connect the moving platform to a base. Each limb is driven by a linear actuator and the linear actuators are mutually perpendicular.
In space, the Canadarm and its successor Canadarm2 are examples of multi degree of freedom robotic arms. These robotic arms have been used to perform a variety of tasks such as inspection of the Space Shuttle using a specially deployed boom with cameras and sensors attached at the end effector, and also satellite deployment and retrieval manoeuvres from the cargo bay of the Space Shuttle.
For example, 3 position coordinates constitute the motion subspace of the 3 DoF Delta robot and the 3 orientation coordinates are in the constraint subspace. The motion subspace of lower mobility manipulators may be further decomposed into independent (desired) and dependent subspaces: consisting of `concomitant’ or `parasitic’ motion which ...
In geometry, a Cartesian coordinate system (UK: / k ɑːr ˈ t iː zj ə n /, US: / k ɑːr ˈ t iː ʒ ə n /) in a plane is a coordinate system that specifies each point uniquely by a pair of real numbers called coordinates, which are the signed distances to the point from two fixed perpendicular oriented lines, called coordinate lines ...
Delta robot kinematics (green arms are fixed length, at 90° to their blue axis that they rotate about) The delta robot is a parallel robot, i.e. it consists of multiple kinematic chains connecting the base with the end-effector. The robot can also be seen as a spatial generalisation of a four-bar linkage. [9]
A typical serial robot is characterized by a sequence of six lines S i (i = 1, 2, ..., 6), one for each joint in the robot. For each sequence of lines S i and S i+1, there is a common normal line A i,i+1. The system of six joint axes S i and five common normal lines A i,i+1 form the