Cartesian robots, sometimes called gantry robots, are mechatronic devices that use motors and linear actuators to position a tool. They make linear movements in three axes, X, Y, and Z. Physical scaffolding forms a framework that anchors and supports the axes and payload. Certain applications, such as machining tightly toleranced parts, require full support of the base axis, usually the X axis. In contrast, other applications, such as picking bottles off a conveyor, require less precision, so the framework only needs to support the base axis in compliance with the actuator’s manufacturer recommendations. Cartesian-robot movements stay within the framework’s confines, but the framework can be mounted horizontally or vertically, or even overhead in certain gantry configurations.