在x，y和/或z方向上建立线性系统的方式有很多方法 - 也称为Cartesian coordinates. The terms we generally use to refer to these systems depend on how the axes are assembled, where the load is positioned, and to some extent, what type of use the system was designed for. In many industrial applications, Cartesian and gantry-style robots are prevalent, but in precision applications, XY tables are often the better choice, due to their compact, rigid structure and very high travel and positioning accuracies.
笛卡尔系统
笛卡尔系统consist of two or three axes: X-Y, X-Z, or X-Y-Z. They often incorporate an end effector with a rotational component for orienting the load or workpiece, but they always provide linear motion in at least two of the three Cartesian coordinates.
笛卡尔系统can include two axes (X and Y) or three axes (X, Y, and Z).
Image credit: Servo Vision Co., Ltd
当使用笛卡尔系统时，负载通常从最外轴（Y或Z）悬臂。例如，在X-Y龙门中，负载安装到轴的y轴或轴的末端或距轴的距离，在Y轴上产生力矩臂。这可以限制其负载能力，特别是当最外轴具有很长的行程时，在较低的支撑轴上产生较大的时刻。
笛卡尔系统用于各种应用中，每个轴上的最大笔划通常通常为一米或更少。这些应用中最常见的包括挑点，分配和组装。
Gantry systems
To address the issue of outer axes causing a moment load on the inner axes,gantry systems使用两个x轴，在某些情况下，两个y和两个z轴。（喇叭齿轮几乎总是有三个轴：x，y和z.）龙门系统的负载位于龙门的脚印内，龙门架安装在工作区域。但是，对于无法从上面处理的部件，可以将龙头配置为从下面工作。
Gantry system with two X axes, one Y, and one Z axis.
图像信用：西北运动
Gantry systems are used in applications with long strokes (greater than one meter) and can transport very heavy payloads that are not suitable for a cantilevered design. One of the most common uses for gantry systems is overhead transport, such as moving large automotive components from one station to another in an assembly operation.
XY tables
XY表与XY Cartesian系统类似，因为它们具有两个轴（x和y，因为他们的名称暗示）安装在彼此顶部，并且通常具有一米或更小的笔划。但XY Cartesian系统和XY表之间的关键差异位于负载定位的情况。与悬挂式一样，与笛卡尔系统一样，XY表上的负载几乎始终居中在Y轴上，并且在Y轴上不会通过负载创建显着的时刻。
常见的XY表设计使用横向滚筒滑动和滚珠丝杠驱动，用于非常高的行程和定位精度。
Image credit: Dover Motion
这就是“如何使用系统的方式”的原则有助于区分各种类型的多轴系统。XY表通常只在自己的占地面积内工作，这意味着负载不会超出Y轴。这使得它们最适合加载在水平面（X-Y）中的负载的应用。典型的例子是定位用于检查的半导体晶片，或者部分地定位成用于进行加工操作。设计称为“开放式框架”或“开口孔径”的设计具有清晰的开口，通过桌子的中心开口。这允许它们用于光或物体需要通过的应用程序，例如背部点亮检测应用和插入过程。
开放式XY表有一个明确的开放ing in the center of the table.
Image credit: Parker Hannifin Corporation
Because XY tables are primarily used for very high precision applications, the guideway of choice is crossed roller slides, which provide extremely smooth and flat travel. Drive mechanisms are typically ball screw or linear motor, although very fine pitch lead screws are also common.
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