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I would like to thanks to SUPERVISOR our head of Institution providing an opportunity to carry out my project in this esteemed organization and his guidance and advice.I highly appreciate the efforts of my project guide GUIDE NAME assisting throughout the project and providing all necessary information and details required for completion of my project. I extend my thanks to all College member staff for providing with congenial atmosphere for working, healthy discussion and valuable input.

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COLLEGE OR UNIVERSITY NAMEINTRODUCTION

A gantry robot is also known as a cartesian robot. It looks very different from the popular image of a robot. It is a stationary robot and typically contains a minimum of three elements of motion. In this case, each motion refers to linear motion in a single direction.

In a gantry robot, each of these motions are arranged to be perpendicular to each other and are typically labeled X, Y, and Z. X and Y are located in the horizontal plane and Z is vertical. Think of X and Y was the width and length of a box and Z as the height of the box. The interior of this box is referred to as the working envelope of the gantry robot. A gantry robot can move things anywhere within this envelope or perform some operation on an item within the envelope. A typical application for a gantry robot is the assembly of a device. A gantry robot that performs this action is also referred to as a pick and place robot. Components required for the device are somehow brought into the working envelope of the gantry robot, and the gantry robot picks up each component and attaches or places it on the device being assembled. The device being assembled must also be within the working envelope of the gantry robot. Grippers of various types can be bolted to the end of the Z direction motion to assist in grasping the parts. Rotating motions can also be added to both the Z direction motion and the working envelope to allow for greater part manipulation.

Another typical application of a gantry robot is to perform some type of action on a part. The part must be placed within the working envelope, and the gantry robot can be programmed to weld, drill holes, or perform various other operations on the part. Rotary motions and appropriate tools are added to the gantry robot to allow it to perform its required function.

Gantry robots have several advantages over the more popular varieties of robots. Gantry robots can be made very large, filling an entire room if necessary. Gantry robots typically have much better position accuracy than their competitors.

Position accuracy refers to how close the robot can place a part to the instructed location. Gantry robots place parts exactly where programmed. This is why gantry robots are usually used for pick and place applications. Gantry robots are easier to program with respect to motion than are other robots. If the part needs to be moved from point (3,6,9) to point (4,2,8), this is simply a move of 1 unit in the X direction, -4 units in the Y direction, and -1 unit in the Z direction.

Gantry robots also have a disadvantage in that they are stationary. Everything needs to be brought into the working envelope and removed from the working envelope when completed. A gantry robot cannot go to the part; the part must come to the gantry robot.

The purpose of this literature review is to develop a base of information about gantry robots and the systems related to them. It is important to know as much as possible about the general idea of a gantry robot as well as the different kinds of gantry robots that are being used in the field today. This is important because we dont want to re-invent the wheel or go down a road that has already been traveled and discovered to be a dead end. In this literature review, we will address the basic definition and purpose of a gantry robot as well as discuss different types of these robots. We will also show examples and give some specifications of gantry robots that are being used in the industrial world today, along with a few pictures.

Gantry robots are relatively simple industrial application machines designed mainly to move parts or perform some operation on an item including assemblies. They are stationary robots that utilize the principles of a Cartesian coordinate system. They have a minimum of three linear elements of motion. These elements of motion allow Gantry Robots to move pieces up or down along the Z-axis, forward or backward on the X-axis, and side to side along the Y-axis. These ranges of motion enable the robot to move parts accordingly from one location to another. The range of this movement geometrically is a box that is referred to as the working envelope.

Typically at the end of the Z-axis an application specific tooling head is incorporated. Often times this tooling brings more ranges of motion into play with a wrist like action rotating the orientation of pieces. These motions are described with a C-axis and an A-axis and are not linear. More adaptability may be incorporated by designing the robot in such a way to allow for rotating the working envelope. Gantry robots can be built very large or small. They also functionally employ much precision in their applications. The Cartesian aspect of them allows for very easy programming. However, their stationary aspect requires that parts be available to them within their working envelope.

Modes of motion along axes vary. Depending on application components these may include electric motors, hydraulic pneumatic systems, rack and pinion drives, and belt drives. Bearings will be incorporated to eliminate forces and moments on gears. Axes may be built into sections that are universally and modularly designed to allow robots to be highly adaptable to multiple application specifications. This would also allow for variations in sizes.

This is an example of the HRXi Series Robots from AEC industries, specifically the HRX-500GW. These gantry robots are called traversing beam robots. This means that they have an x-axis that moves along a stationary y-axis (traverse arm). The z-axis (vertical arm), subsequently, moves along the x-axis (strip) and can also move vertically. The HRXi Series Robots utilize a one leg configuration.

This series is powered by a digital AC servo motor, which gives it very good control. The construction of the traverse arm is made from thick walled aluminum to give it high strength with minimal weight. Each arm uses a THK rail and bearing guide system. This allows the arms to move quickly and easily with a minimum of friction and maintenance, thus, increasing the robots efficiency.

The HRXi Series Robots have a wide variety of individual specifications and dimensions: the traverse arm can range from 1.2 to 2.2 meters, the strip arm from 0.65 to 1.55 meters, and the vertical arm from 0.425 to 1.22 meters. This allows them to fill a large number of applications. The vertical arm can have up to two additional degrees of freedom. Additionally, there is an array of application heads that can be attached. This group of robots has a load capacity from 2 to 20 kilograms, depending on the model and the application needed.

The HRXi Series Robots are typical of AEC industries. The majority of their gantry series robots have many models and applications. They can be powered by AC servo motors or servo-pneumatic motors as well as other configurations. Their robots can be given two additional axes attached to the vertical arm depending on the application. They can also have belt, pneumatic, or gear and pinion systems. AEC industries have a wide range of robots that can be used for any number of tasks.

Another popular gantry robot that is in the field today is the Gudel gantry robot. The main difference between the Gudel robots and the robots mentioned above is the number of axes involved. Gudel gantry robots use a modular Cartesian axis concept, based on Gudel standard components. Following this concept, they offer gantry robots with 2-6 robot axes and up to six additional external axes. The external axes are provided by rotary axes and wrist units (up to 3 rotary axes) that come as standard options. The payload range for their robots is 25-2500 kilograms. With eight standard gantry sizes, leg height and working envelopes are based on customer demands. They use a standardized leg design where the position of the legs is variable. All motors have holding brakes to prevent damage to machinery. Additionally, their robots utilize rack-/pinion drive on all linear axes. Gudels rack and pinion range is available in three variations: straight teeth metric pitch, straight teeth modular pitch and helical teeth modular pitch. All variations are also available in different qualities. Some common applications of Gudel gantry robots are: materials handling, machine tending, palletizing, transfer lines, and assembly. Furthermore, it is important to note that Gudel gantry robots have a max flexibility of 6 degrees of freedom (3 cartesian and 3 rotary).

Last but certainly not least on our list of common gantry robots used in the industrial field today are made by Wittmann. Wittmann builds gantry robots for many different applications. Wittmanns fleet is well diversified with smaller and larger sized robots. Their smaller application robots feature lightweight aluminum vertical arms and can be fitted with additional pneumatic arms. Wittmanns main drive system is powered by servo motors for all three axes. The medium range robots feature a moveable kick stroke beam. The midrange gantrys can handle weights of up to 44lbs with 500lbs of locking force. The vertical axis on a midrange robot can extended up to 1.6 meters. These robots also have an optional C-axis rotation so that the orientation of the parts can be changed for placing. Wittmanns large range robots feature their patented telescoping vertical arm combined with the main vertical arm that is driven by rack and pinion. Vertical strokes for these larger machines range from 1.8 to 2.6 meters. They are capable of handling weights from 77lbs to 275lbs depending on the model. Large application robots are also available with the A&B wrist axes and are capable of using many types of grippers and vacuum circuits.

We have discussed the general idea of a gantry robot as well as the different types and brands of gantry robots that are used in the industrial world today with some pictures for each. This is all relevant information to be able to design a new gantry robot that will be original, but not too original. Now that we know what a gantry robot is, how it works, and what it looks like, we can begin designing one to fit the guidelines that have been set before us.

Working Outside the Envelope

The irregular work envelopes of traditional jointed articulating arms may require redesign of existing workspaces. SCARA and articulating arm robots might be the most recognizable form of robot on the market today but look to gantry robots for getting the big jobs done in the least amount of space. Gantry robots also called Cartesian robots are almost ubiquitous with automation but for reasons beyond the scope of this article here are not quick to be regarded as serious robots. Due to their simple design, low cost and scalability and the myriad of motor and control software solutions, this is changing.

Gantry Robot Advantages:

3+ axis of movement of almost any length

Scalable

Gearbox and motor can be sized according to range of motion and speeds

Suitable for light to heavy / hanging loads

Flexible and efficient due to linear axes scalability

Inexpensive

Fact: Cartesian design robots will usually produce the best accuracy.

Working Outside the Envelope

Cannot vary reach into or around obstructions

Linear slides belts rails are not easily sealed against the environment

Not freestanding: stand or frame or other mounting requiredGantry System Benefits:

Gantry robots can utilize an entire cubic work envelope of 96% of their space and size. A Cartesian robot has three axes. Like their namesake and more recognizable giant cousins, the gantry crane, they are commonly suspended from an X or X/Y axis beam on a rigid structure. Coordinates in three axes are usually defined as X, Y and Z. Each axis is arranged at right angles to allow three degrees of motion. Gantries are further characterized by support at either ends or through the addition of a second member. Unlike arm style robots, gantries can easily scaled to larger proportions in all three axes. Gantry robots are especially suited for applications where additional orientation requirements are minimal or where or the parts can be staged before the robot picks them up.

Both Cartesian and Gantry robots have a rectangular or cubic work envelope as opposed to articulated robots who like the joints in a human arm have limits to each movement and a specific arcing scope of motion. Their specifications are shown as degree of movement with large sweeping arcs with plots of positive and negative degree of movement rotating about the center of its base and the bearing of each axis. It is curious to note that workspace itself often has to be adapted to these unusual work envelopes as opposed to the robot adapting to the workspace.

Because of their rigid lightweight structure, the Cartesian/Gantry Robots are very accurate and repeatable. Due to their simple structure, gantry robots are intuitive to program and easy to visualize when evaluating new automation. Most of all Gantry robots are configurable. From a plethora of motor and gearbox choices to components and materials these robots are prepared to take on the challenges of damp hazardous and dirty environments.

The Cartesian Coordinate Robots relatively simple design and straightforward operation make it highly desirable in manufacturing. Because the individual axes can be easily replaced, downtime is reduced and maintenance costs are kept to a minimum. In addition, the entire system can be disassembled into its component parts for use in multiple single-axis applications. Most importantly, Cartesian Coordinate Robot systems are inexpensive compared to other more complex robots.

Gantry Applications:

Gantry robots have all their axes located above the work envelope which makes them ideal for overhead work processes. Gantry robots can be used to hold and position a variety of end-effectors such as those used in: PC Board assembly, dispensing, spraying, material handling, palletizing, pick and place, water jet, plate welding, friction welding, assembly, packaging, unitizing, Sorting, scanning, tray loading / unloading, camera positioning. inspection, glass cutting, printing plotting, laser cutting, flying knives, fastening and screw driving.

It has been argued that the gantry is the real workhorse of modern industry. Think about it millions of gantry robots have been packaged and sold into turn-key machines such as those used for assembling electronic components and robotic pick and place systems alone. Even today, linear X-Y-Z gantries are the mainstay of the of machine tool co-ordinate measuring industries due to their accuracy and rigidity. This type of robot is especially suited for applications where additional orientation requirements are minimal or where or the parts can be staged before the robot picks them up.

Often overlooked, the gantry robot is the mainstay of the modern automation industry and should always be considered for new automation due to its flexibility, efficiency and ease of implementation.9. BIBLIOGRAPHYwww.google.comwww.youtue.comWikipedia