Cartesian Robot (Gantry)
What it looks like: A box-like frame with a tool that moves in straight lines along X, Y, and Z rails.
Used for: 3D printing, CNC machines, pick-and-place work, and moving parts across a flat area.
Robotics Foundations
Robots as complete systems
Foundations of Robotics Systems
How robot types, parts, tools, and power systems work together
A robot is more than one moving machine. It is a system made from sensors, actuators, controllers, tools, power, and safety parts working together to complete a task.
Big idea made simple
Robots are made of parts working together, almost like the human body uses senses, muscles, and a brain.
Sense
Sensors detect the environment
Act
Actuators create movement
Key control idea
A controller uses information from sensors to decide what the robot should do next.
Common Robot Designs
Different robots are built for different jobs. Shape, movement, and workspace all affect what a robot can do well.
Articulated Robot Arm
What it looks like: A robot arm with several rotating joints, similar to a shoulder, elbow, and wrist.
Used for: Welding, painting, assembly, machine loading, and jobs that need flexible movement.
DOF: Degree of Freedom means one way a robot can
move. A 6-DOF arm can move in six different ways, which helps it
reach many positions and angles.
SCARA
What it looks like: A fast arm with two main horizontal links and a tool that moves up and down.
Used for: Fast assembly, sorting, packaging, and placing small parts on a production line.
Mobile Robot (AGV or AMR)
What it looks like: A wheeled platform that drives through a room, warehouse, hospital, or factory.
Used for: Carrying materials, delivering items, inspecting areas, and moving products between workstations.
Full Robotic System
This diagram shows the main parts of a robotic system and how information, power, and motion connect.
How the System Works
A robotic system follows a flow of information, decisions, power, and movement. This is how the parts work together during a task.
Sensors send information
→
Controller makes decisions
→
Actuators create movement
→
Fluid power adds force
1
Sensors Send Information
Sensors detect objects, distance, position, or pressure and send that information to the controller.
2
Controller Decides
The controller processes the data and decides what action the robot should take next.
3
Actuators Move
The controller sends commands to actuators, which create motion in motors, joints, grippers, or slides.
4
Fluid Power Supports Motion
Pneumatics or hydraulics can provide the energy needed for fast movement, strong force, or repeated clamping.
The Main Parts of a Robot
Sensors, actuators, and controllers work together so a robot can understand a situation and respond with movement.
Sensors
Sensors detect the environment. They can notice objects, distance, light, pressure, color, or position.
Example: A proximity sensor detects when an
object is close to the robot.
Actuators
Actuators create movement. They turn electrical, air, or liquid power into motion.
Example: A motor spins a wheel, joint, belt, or
robotic arm section.
Controllers
Controllers make decisions. They read sensor input and send commands to actuators.
Example: A programmable logic controller, or PLC,
controls machines in many factories.
Sensors, controllers, and actuators work together as a system: the sensor detects information, the controller decides what to do, and the actuator moves the robot.
Tools Around the Robot
Peripheral hardware means the extra systems that support the robot but are not the robot itself. These systems help the robot grab, move, sort, or deliver parts.
End Effectors
An end effector is the tool at the end of a robot arm. It changes based on the job.
Grippers
Suction cups
Welding tools
Conveyor Systems
Conveyors move parts to and from robots. They help factories keep materials moving at a steady pace.
Part delivery
Sorting
Assembly lines
These tools matter because a robot usually needs support equipment to finish a real job. For example, a conveyor can bring parts to the robot, and an end effector can pick them up.
Fluid Power: Pneumatics vs Hydraulics
Fluid power uses air or liquid pressure to create movement and force. Robots and machines use fluid power when a task needs quick motion, strong force, or simple repeated movement.
Pneumatics (Air)
- Where used: factories, packaging lines, robot grippers, suction cups, clamps, and small slides.
- Pros: fast, clean, simple, and usually lower cost.
- Cons: less precise and not as strong as hydraulics.
Hydraulics (Liquid)
- Where used: heavy equipment, presses, lifting systems, construction machines, and strong robot tools.
- Pros: very powerful, steady, and good for heavy loads.
- Cons: can leak, needs more maintenance, and can be messy.
Robot Types Compared
This chart compares the four robot types in the same categories so it is easier to see how each design is different.
| Robot Type | Where Used | What It Looks Like | Used For | Pros | Cons |
|---|---|---|---|---|---|
| Cartesian (Gantry) | Factories, labs, CNC machines, and 3D printers | Rectangular frame with straight rails | 3D printing, CNC, pick-and-place | Accurate straight-line movement | Needs a large frame and is less flexible |
| Articulated Arm | Factories, welding cells, painting booths, and assembly lines | Arm with rotating joints | Welding, painting, assembly | Flexible reach and many angles | More complex to program and control |
| SCARA | Electronics factories, packaging lines, and assembly stations | Horizontal arm with vertical tool motion | Small part assembly and packaging | Very fast for repeatable tasks | Works best in a smaller, flat workspace |
| Mobile Robot (AGV or AMR) | Warehouses, hospitals, schools, and large factories | Wheeled platform | Delivery, transport, inspection | Moves work between locations | Needs clear paths, charging, and navigation sensors |
Robots Work as Systems
Robots are systems made of parts working together. The robot type gives the machine its basic shape and motion. Sensors detect the environment, controllers make decisions, actuators create movement, peripheral hardware helps complete the job, and fluid power can add fast or strong force.
Glossary of Important Terms
These definitions explain the most important engineering words used throughout this robotics project.
Degree of Freedom (DOF)
The number of ways a robot can move. A robot with more DOF can move in more directions.
Actuator
A part that creates movement in a robot, such as a motor.
Sensor
A device that detects information from the environment, such as a proximity sensor.
Controller
The brain of the robot that makes decisions and controls actions, such as a PLC.
End Effector
The tool at the end of a robot arm, such as a gripper or suction cup.
Pneumatics
A system that uses air pressure to create movement. Used for fast and light motion.
Hydraulics
A system that uses liquid pressure to create movement. Used for strong and heavy force.