The design and prototyping of the horizontal positioning mechanism used in a low-cost, high-speed, cartesian-motion robot

International Business Machines, through the Technical Interchange Program, has sponsored the design and prototyping of a general-purpose, low-cost, high-speed, cartesian-motion robot. The parameters of the proposed robot are:

Cost to manufacture: $600,

Speed: 36 inches per second maximum velocity,

0.24 seconds acceleration and deceleration time,

26 inches per second average velocity for 12 inch move.

Resolution: 0.0157 inches.

Theoretical accuracy: 0.006 inches

Payload: 3 pounds.

Prototype work area: 38 by 38 inches.

Control: Open loop.

Drivers: four 2.1-amp step motors.

Bearings: recirculating ball bushings.

The robot uses a simple but effective mechanism that maximizes speed and accuracy, minimizes backlash and maintenance, and facilitates manufacturing and assembly. The design is modular so that the robot can be used in various work areas.