OF

GANTRY ROBOT

Submitted To:

Submitted By:
Student Name
Roll. No: ----------College Name

ACKNOWLEDGEMENT
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.

STUDENTS DECLARATION

I hereby declare that the work, which is being presented by me in Project,

entitled Brand Preference Of Mobile Phones Among in partial
Fulfillment of requirement for BBA by COLLEGE OR UNIVERSITY
NAME is an authentic record of my own work under the Supervision of
YOUR SUPERVISOR.

Submitted By:
STUDENT NAME
BBA
Roll. No. - *********

GUIDE CERTIFICATE
This is certified that the Project title Brand Preference Of Mobile Phones Among
is developed by Student Name under the guidance of GUIDE NAME the Project works
well and is tested by me successfully.

Project guide:Signature..

GUIDE NAME
COLLEGE OR UNIVERSITY NAME

INTRODUCTION
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 Caxis 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 required

Gantry 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 singleaxis 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 coordinate 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. BIBLIOGRAPHY

www.google.com
www.youtue.com
Wikipedia