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Pick and place machines are another application for Cartesian coordinate robots. For example, overhead gantry Cartesian robots are applied for continuous parts loading and unloading on CNC lathes production lines, performing 3-axis (X, Y, Z) pick and place operations of heavy loads with high speed performance and high positioning accuracy.
From the high speed machine, the board transits to a precision placement machine. These pick-and-place machines often use high resolution verification cameras and fine adjustment systems via high precision linear encoders on each axis to place parts more accurately than the high-speed machines.
Cartesian robot / Gantry robot: Used for pick and place work, application of sealant, assembly operations, handling machine tools and arc welding. It is a robot whose arm has three prismatic joints, whose axes are coincident with a Cartesian coordinator.
For example, the 3 DoF Delta robot has lower 3T mobility and has proven to be very successful for rapid pick-and-place translational positioning applications. The workspace of lower mobility manipulators may be decomposed into 'motion' and 'constraint' subspaces.
Delta robot kinematics (green arms are fixed length, at 90° to their blue axis that they rotate about) Over-actuated planar delta robot. 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]
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Members of the Multipteron [8] family of manipulators have either 3, 4, 5 or 6 degrees of freedom (DoF). The Tripteron 3-DoF member has three translation degrees of freedom 3T DoF, with the subsequent members of the Multipteron family each adding a rotational R degree of freedom. Each member of the family has mutually perpendicular linear ...
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