Gantry Robot for Mobile Observation

Abstract

A gantry robot consists of a manipulator mounted onto an overhead system that allows movement across a horizontal plane. Gantry robots are also called Cartesian or linear robots. They are usually large systems that perform pick and place applications, but they can also be used in welding and other applications like for observing the behavior of patient in hospital wards. Fast motion of a gantry robot is usually associated with undesirable induced oscillations of the suspended object. Because of these oscillations, gantry robot maneuvers are performed slowly contributing to low site efficiency and high transportation costs. These undesirable oscillations can be minimized at reasonably high travel speeds by designing effective controllers. To solve this problem precaution should also be considered as not to use unbalanced structure and also the most important was the mechanism of the robot. The robot structure requires high stability so that when the camera housing is positioned to the required locations it will not disturbed and ensure safety to the patient.