Cartesian coordinate robot

[3] Robots have mechanisms consisting of rigid links connected together by joints with either linear (prismatic P) or rotary (revolute R) motion, or combinations of the two.

The linear motion of active prismatic P joints may be driven by rotary motors through gears or pulleys.

[6][7]  Although not strictly ‘robots’, other types of manipulators, such as computer numerically controlled (CNC) machines, 3D printers or pen plotters, also have the same mechanical arrangement of mutually perpendicular active prismatic P joints.

A single chain of links and joints connects a moving object to a base of serial manipulators.

The simplest application is used in milling machines and plotters where a tool such as a router or pen translates across an X-Y plane and is raised and lowered onto a surface to create a precise design.

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.