Page 137 - Concise Encyclopedia of Robotics

GANTRY ROBOT G
A gantry robot consists of a robot arm and end effector that employs three-
dimensional (3-D) Cartesian coordinate geometry for precise positioning.
In one version of the gantry system, z-axis (up/down) movement is pro-
vided by a vertical shaft along which an assembly can slide. That assembly
consists of a horizontal shaft, along which a horizontal arm at right angles
to the shaft can slide on the y axis (forward/backward). A cable drive
facilitates extension and retraction of the horizontal arm for x-axis
(left/right) motion of the end effector.
Gantry robots are used in industrial robotics to position end effectors
over specific points on a horizontal plane surface. The end effector can be
a gripper that picks up or releases objects, as in drop delivery. Alterna-
tively, a rotating-shaft end effector can be used, as in a robot designed to
tighten bolts.
See also CABLE DRIVE, CARTESIAN COORDINATE GEOMETRY, END EFFECTOR, ROBOT ARM, X
AXIS, Y AXIS, and Z AXIS.
GAS STATION ROBOT
Despite the rise in popularity of self-service gas stations, there are still
people who would rather sit in their cars and have someone—or some-
thing—else do the dirty work. Robots are quite capable of filling your gas
tank and washing your windshield.
The drawing illustrates what a typical robotized drive-through filling
station, or gas station robot, might look like. A person drives a car up to
the paying station and inserts a credit card. This card has information
concerning the make and year of the car, as well as credit account data.
This tells the robot where it can find the gas-tank fill opening (right or left
side of the car), and whether there are enough funds in the credit account
to pay for a full tank of gas. Another method of car identification might

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