This gantry robot system was developed for MTP (microtiter plate) handling in the biomedical industry. All three axes were belt-driven. In addition to a belt drive for the vertical Z-axis, a large bore pneumatic cylinder was used to offset the weight of the Z-axis arm and end-effector. The cylinder was constantly actuated to act upwards on the robot Z-axis. A precision relieving pressure regulator was used to maintain proper air pressure in the cylinder for the full range of the arm's movement. This reduced the load on the Z-axis drive to only the inertia of the arm and end-effector, and reduced the drive's duty cycle.

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