40th International Conference on Production Engineering of Serbia
ICPES 2025
Nis, Serbia, 18-19th september 2025
MATHEMATICAL MODEL OF PNEUMATIC CARTESIAN ROBOT
Vladislav Blagojevic, Saša Randelovic, Srdan Mladenovic
DOI: 10.46793/ICPES25.295B
This paper presents the development of a mathematical model for a robot with a Cartesian structure, commonly used in industrial and automation systems due to its simplicity, accuracy, and ease of control. The robot's mechanical design is based on three linear, orthogonal axes (X, Y, and Z), allowing straightforward positioning in three-dimensional space. The study focuses on the formulation of the kinematic and dynamic models necessary for precise control and trajectory planning. The dynamic model is derived using Newton-Euler methodology. Special attention is given to the structural configuration and the movement constraints imposed by the linear pneumatic actuators (three rodless cylinders, one cylinder with a piston rod on one side and a gripper). The resulting model provides a clear mathematical framework for understanding the behaviour of the Cartesian robot under various operating conditions. This work lays the foundation for future implementation of control algorithms and integration into automated systems, and it serves as a reference for the design and analysis of similar robotic platforms
Cartesian structure, Robot, Pneumatic, Mathematical Model
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