Of the various robots used for automated assembly, the Cartesian robot is the least complex. Also known as a rectilinear, rectangular or gantry robot, a Cartesian robot can only move its end effector in straight lines along the X, Y and Z axes. Some Cartesians have an additional axis of motion, in which the end effector rotates about the Z axis or parallel to it.
Each axis is a separate linear actuator, which can be driven by a ballscrew or belt. Depending on length, velocity, payload and accuracy requirements, a linear guide may be necessary to support one of the axes.