Glossary · Robotics
Cartesian robot
Also known as: Gantry robot, Linear robot, Rectangular robot
German: Portalroboter
In ISO 8373, a Cartesian robot is a robot whose arm has three prismatic joints with axes arranged as a Cartesian coordinate system. Mounted on an overhead frame it is called a gantry robot (Portalroboter).
- Robotics
- Standards
In one sentence
A Cartesian robot moves along three linear axes at right angles; mounted on an overhead frame it is called a gantry robot.
Example
A gantry-type Cartesian robot above two lathes loads raw parts and unloads finished shafts, covering both machines with a 6-meter X axis.
How it applies
- Engineering: Cartesian robots are built from linear axes, often modular, so stroke lengths can be sized to the task. They suit large rectangular work areas, heavy loads and simple kinematics; the controller is sometimes a motion controller or PLC instead of a dedicated robot controller.
- Commissioning: Each axis needs reference points, software limits and end stops. The overhead frame defines the area under which people must not stand during automatic operation.
- Documentation: Describe the axes as X, Y and Z with their strokes, the load handling device and the Linear motion hazards (crushing, shearing at the axis ends). The documentation team should note that Portalroboter is often translated as gantry robot; use one English term and list the other as a variant.
Cartesian robot vs. articulated robot
A Cartesian robot moves each axis along a straight line, so programming and accuracy are simple, but it needs a frame larger than its work area. An Articulated robot reaches around obstacles and orients its tool freely with a small footprint.