Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 31

A manipulator whose first three joints are prismatic is known as a Cartesian manipulator. The joint variables of the Cartesian manipulator are the Cartesian coordinates of the end effector with respect to the base. As might be expected, the kinematic description of this manipulator is the simplest of all manipulators. Cartesian manipulators are useful for table-top assembly applications and, as gantry robots, for transfer of material or cargo. The symbolic representation of a Cartesian robot is shown in Figure 1.16.

Figure 1.16 The Yamaha YK-XC Cartesian robot (left) and the symbolic representation showing a portion of its workspace (right). Cartesian robots are often used in pick-and-place operations. (Photo courtesy of Yamaha Robotics.)