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A variety of Gantries have been studied to allow a large work volume, high strength-to-weight, easy assembly, and/or mobility.

(Click on the photo to enlarge the image)

The 6m octahedral Gantry RoboCrane The Mobile 2m Octahedral gantry frame  Support point of the Mobile 2m Octahedral Gantry frame Wooden Stick and String Gantry Aluminum 1m Gantry Model Steel Gantry Model Tripod Wooden Frame Gantry Model