This one was a three axis KAOS robot pick and place with five meter per second (ludicrous speed, capable of it, but unnecessary), and (amazingly and unnecessarily) five nanometer resolution. Our customer's machine did not go into high production, but the robot worked great. Delta Tau made the coordinate system easy work. A single line in the config file was enough to make this kinematic accept Cartesian commands.
With ServoBelt drives instead of linear motors, this one can be both economical and still have the lowest possible moving mass for a three axis stage.
