Cartesian coordinate robots, also known as linear robots or gantry robots, have a rectangular structure. These types of industrial robots feature three prismatic joints, which provide linear motion by sliding along their three perpendicular axes (X, Y, and Z). They may also be equipped with a wrist to allow rotational movement. Cartesian robots are used in most industrial applications because they offer flexibility in terms of configuration, making them suitable for specific application requirements. Cartesian robots can provide high positioning accuracy and are capable of handling heavy objects.