Cartesian robots

Online control of the AlR-1 robot is done from within the UltraSIM/UlScan generic scanner control module. With a scanning program as input, the control application is able to calculate and perform cartesian motion for any usual robot manipulator having an inverse solution. The planned robot motion can be simulated off-line before online execution regarding joint and robot position, speed and acceleration. During robot inspection the 3D virtual inspection environment is updated real-time according to the actual robot motion. 

Cartesian A robot consisting of a vertical sliding unit which is mounted on an x-axis slideway... 

Place the 96-well plates containing samples on the Cartesian arrayer robot. 

Cartesian systems are the most common form of robotics in use in laboratories at present. Embodied in programmable pipetting stations, they provide flexible pipetting routines to suit varied protocols. They have been applied... 

Figure 11-10 Three basic configurations of robotic devices that have application in the clinical laboratory. A, Cartesian. B, Cylindrical. C, Articulating (polar) or jointed. (Courtesy the Journal of the /nternotfona/ Federation of Clinical Chemistry 1992 4 175.)...

Cartesian. Robots belonging to this group can only perform translational movements, which are defined in a three-dimensional coordinate (x,y,z) system. 

An extreme rigid structure is the first characteristic of Cartesian robots, whose single axes move only in the direction of the Cartesian space coordinates. For this reason, Cartesian robots ace particularly suitable for operating in large-sized working areas. Major applications include workpiece ptil-letizing and commissioning. 

This geometric advantage and the flexibility of the robot system come at the expense of lower productivity and accuracy than with Cartesian systems. Therefore, Cartesian placement systems should be the basis for a specialized MID assembly system. 

Carrying allowances, 1396 Carrying costs, 2021 Cartesian placement systems, 436, 438 Cartesian robots, 374, 375 Carton, 2087... 

The Cartesian robot consists of three orthogonal linear links that comprise the arm, and three rotational links that from the wrist system. Figure la shows a typical configuration from this robot class. Cartesian robots are easy to control the controller can be seen as very similar to a six-axis machine tool CNC. Unlike all other robots, this type needs no coordinate transformatimis for linear motions. This makes the robot particularly suitable for linear movements where precise path control is required. The drawback of this class is the volume of its mechanical structure relative to the work volume it offers. 

Cylindrical Coordinate Robots One of the earliest industrial robots belongs to the cylindrical coordinate robot class. Its kinematic structure is shown in Fig. lb. The arm consists of two orthogonal linear links placed on a rotating base. In comparison to Cartesian robots, this configuration offers a much larger work volume relative to the mechanical structure of the arm. The control system needed for linear path control is slightly more complex than for the Cartesian robots (Fig. 2). 

The Forward Coordinate Conversion The main challenge of industrial robot control is the conversion from path specifications given as Cartesian coordinates for position and orientation according to the ISO standard or similar Euler orientation coordinates. This challenge involves finding the inverse conversion from the pose vector Pp = X,Y,Z,A,B,cY to the joint space vector 0 = 6>i, 6>2,6>4,05,0eY To find this, one has to start with the forward conversion function. This conversion can be expressed as the function (Lien 1979) ... 

Automated machine tools and robots move through three-dimensional space. We describe this space with the Cartesian coordinate system. Using your desk as an example, the desktop has width and depth and is some height off the floor. We commonly refer to the width as the x-axis, the depth as the y-axis, and the height off the floor as the z-axis. 

To write a robotic program using the Cartesian coordinate system. 

Record each movement of your "robotic arm" in Cartesian coordinates to write a program. 

Figure 3.7 A double-arm Cartesian robot, designed to perform mnlti-hardness PU foaming in open-monld ponring processes for automotive seat moulding.

Funda, J., et al., Constrained (Cartesian motion control for teleoperated surgical robots, IEEE Transactions... 

DYNAMIC ANALYSIS OF ROBOT MANIPULATORS A Cartesian Tensor Approach, C.A Balafoutis, R.V. Patel... 

The PAKY system, a robot for percutaneous needle puncture, incorporates a 1-DOF PAKY (percutaneous access of the kidney) radiolucent needle driver, a2-DOF RCM (remote center of motion) module capable of needle orientation, a 3-DOF XYZ Cartesian stage for translational positioning of the needle tip, and a passive 7-DOF positioning arm (S-arm) (Fichtinger et al. 2002 Su et al. 2002). The lower joints are positioned and locked manually, while the upper stages are motorized (Fig. 28.5). 

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