A gantry robot, also known as a Cartesian-coordinate robot or a portal (frame) robot, is a versatile manipulator that is automatically controlled, repeatably programmable, multi-axis, and whose degrees of freedom are configured in spatial Cartesian coordinates. Its operation is primarily carried out through linear motion along the X, Y and Z axes. Built around single-axis mechanical arms driven by servo motors or stepper motors as the basic working units, it commonly uses ball screws, timing belts, and rack-and-pinion drives as the transmission means. Such a system can reach any point within a three-dimensional XYZ coordinate space and follow controlled motion trajectories.