Design and Development of Cartesian Coordinate Robot

Abstract

For precise motion control in Cartesian coordinates, essential for assembly tasks requiring both force and position control to ensure part integrity and smooth operation. Previous methods lacked the ability to maintain fast and accurate motion control in the presence of modeling errors and external disturbances. Our proposed scheme comprises both nonlinear and linear components in the control input. The nonlinear part stabilizes and decouples robot dynamics in Cartesian coordinates, while the linear part, drawing from servomechanism theory, mitigates modeling errors and disturbances.

Introduction

I. INTRODUCTION

A Cartesian coordinate robot is an industrial robot whose three principal axes of control are linear. The Cartesian Coordinate robot is also known as the linear robot. This mechanical arrangement simplifies the robot control arm solution. Cartesian coordinate robots, also known as rectilinear or gantry robots, represent a fundamental archetype of robotic systems. Characterized by their linear motion along three orthogonal axes (X, Y, and Z), Cartesian robots are widely utilized in various industries for tasks requiring precise positioning, high repeatability, and efficient automation. Cartesian robots operate within this spatial framework, moving in straight lines along predefined paths to execute tasks with accuracy and reliability. The design of a Cartesian coordinate robot typically consists of a rigid frame constructed from aluminum, steel, or other materials, forming a rectangular or cubic structure. Linear actuators, such as ball screws or linear motors, are employed to drive motion along each axis, controlled by sophisticated feedback systems to ensure precise movement.  In recent years, the rise of collaborative robotics has expanded the role of Cartesian robots beyond traditional industrial settings, with these machines increasingly employed in environments where human-robot interaction is essential, such as healthcare, logistics, and service industries. As automation continues to revolutionize various sectors of the economy, Cartesian coordinate robots remain at the forefront, driving productivity, improving quality, and unlocking new possibilities for innovation and efficiency. 

II. OBJECTIVES

1. Seamless Integration with Existing Systems  
2. Improved Task Flexibility
3. Increased Workspace Coverage
4. Improved Efficiency and Productivity

Conclusion

The proposed system basically serves in 4 axes. X, Y, Z and Rotational Axis. This is a cost efficient solution for Industrial automation, Agricultural Industry, Food industry etc. This system is more efficient than the other cartesian coordinate robots available in the market. The information can also be used by the Government authorities for the construction purpose of buildings by 3D printing method.

References

[1] Nonlinear Robust Robot Control in Cartesian Coordinate Jul 1988 DOI: 10.23919/ACC.1988.4789929 Shay-Ping T. Wang, C. Y. Kuo [2] Structural design of a cartesian coordinate tooth-arrangement robot Aug 2011 DOI: 10.1109/EMEIT.2011.6023198 Yong-De Zhang Jingang Jiang Ting Liang [3] Structural model and dynamic analysis of six-axis Cartesian coordinate robot for sheet metal bending Jul 2019 DOI: 10.1177/1729881419861568 ISBN: 1729-8814 Fengyu Xu Quansheng Jiang LiNa Rong Pengfei Zhou JinLong Hu [4] The dynamic characteristic analysis on Cartesian coordinate robot May 2020 DOI: 10.1088/1755-1315/474/3/032003 ISBN: 1755-1315 [5] A Cartesian Coordinate Robot for Dispensing Fruit Fly Food Jul 2018 DOI: 10.5334/joh.9 ISBN: 2514-1708 [6] The compliance control study of Chinese chess robot in Cartesian coordinate system September 2013 DOI:10.1109/ICAMechS.2013.6681745 Conference: Advanced Mechatronic Systems (ICAMechS), 2013

Copyright

Copyright © 2024 Kishore B M. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.