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SCARA Robot | How To Build Your Own Arduino

Based Robot
by Dejan • 106 Comments

In this tutorial we will learn how to build an Arduino based SCARA Robot. I
will show you the entire process of building it, starting from designing robot
to developing our own Graphics User Interface for controlling it.

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You can watch the following video or read the written tutorial below.

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Overview
The robot has 4 degrees of freedom and it’s driven by 4 NEMA 17 stepper
motors. Additionally, it has a small servo motor for controlling the end
effector or the robot gripper in this case. The brain of this SCARA robot is an
Arduino UNO board which is paired with a CNC shield and four A4988
stepper drivers for controlling the stepper motors.

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Using the Processing development environment, I made a Graphic User

Interface which features both Forward and Inverse Kinematics control. With
the Forward Kinematics we can manually move each robot joint in order to
get the desired position. Using the sliders on the left side, we can set the
angle of each joint. The final position of the end effector, the X, Y and Z
values are calculated and printed on the right side of the screen.

On the other hand, using Inverse Kinematics we can set the desired position
of the end effector, and the program will automatically calculate the angles
for each joint in order the robot to get to that desired position.

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 

I actually made the program in a way that we can use both methods at the
same time, on the same screen. The angles of the joints as well as the X, Y
and Z values of the end effector are connected and always present on the
screen.

···

Of course, the robot can also operate automatically. Using the “Save” button
on the program we can save each movement or position of the robot. Then
when we press the “Run” button the robot will execute the
× stored movements
in a loop, from the first one to the last one, over and over again. We can also

adjust speed of movement and the acceleration from the User Interface.

SCARA Robot 3D Model

To begin with, let’s take a look at the 3D model.

I designed this SCARA robot using 3DEXPERIENCE SOLIDWORKS which are

also the sponsor of this video.

3 3DEXPERIENCE SOLIDWORKS is basically SOLIDWORKS with cloud

capabilities which we get through the 3DEXPERIENCE platform. Everything
works through the cloud, so you or anyone from your team can have
accesses to the data or the models at any time, from anywhere in the world.
The 3DEXPERIECE platform also includes many useful ×productivity and
management apps.
 

···

For example, the Project Planer is a great way to organize your tasks, set
deadlines and keep track of your progress. With the 3D Markup app, you can
view, explore and take notes of the models from any device, like a notebook,
tablet or even a smartphone.

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 

There is also a separate, cloud-based 3D modeler called SOLIDWORKS

xDesign, that runs inside your browser. It can be used in conjunction with
Solidworks or on its own and it’s great for modeling, anywhere, anytime and
on any device.

So, big thanks to Solidworks for sponsoring educational content like this. If
you would like to know whether SOLIDWORKS and the 3DEXPERIENCE
platform can work for you, check the following links below.

Try 3DEXPERIENCE for free with my special link:

www.solidworks.com/HTMTryNow

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 

···

Learn more about 3DEXPERIENCE

SOLIDWORKS: www.solidworks.com/HTMLearnMore

Ok, so let’s get back to the model and explain how I came up with this
design. My goal for the robot was most of the parts to be 3D printed. So,
everything you see here can be 3D printed even on a 3D printer with smaller
printing bed. The GT2 pulleys are also 3D printable. I used parametric design
to make them, so if needed we can easily change their sizes. We just have to
change the number of teeth, and all dimensions will automatically update to
make the pulley the proper size.

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 

For the first joint, we have 20:1 reduction ratio, achieved in two stages with
these custom designed pulleys. The two GT2 belts I use here are closed loop
with 200mm and 300mm length. The robot joints are composed of two
thrust bearings and one radial bearing.

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 

For the second joint, we have 16:1 reduction ratio, achieved in the same way,
and the third joint has 4:1 reduction ratio with just a single stage reduction.
The joints are hollow, so we can use that to passthrough the wires from the
motors and the micro switches. For each of the belts, there are slots on
which we can attach idler pulleys for tensioning them.

···

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 

The robot gripper is driven by an MG996R servo motor and we can easily
change the gripper ends to achieve different grip sizes. The Z axis of the
robot is driven by an 8mm lead screw, while the whole arm assembly slides
on four 10mm smooth rods and linear ball bearings. The height of the robot
simply depends on the length of the smooth rods, which in this case are
40cm. The lead screw needs to be 2cm shorter in order to fit in this
configuration, or if not, the Z motor can be raised by 2 cm using spacer nuts.

3D Model and STL Download Files

You can get this 3D model, as well as the STL files for 3D Printing from
Cults3D.

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3D Printing the robot parts

All right, so we can move on with 3D printing the parts. I used my Creality
CR-10 3D printer for printing all of the parts, which is really great 3D printer
with an affordable price. As I mentioned, the parts are designed to fit on a
smaller 3D printer as well, for example the Ender3.

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 

For most of the parts I used PLA+ material, the blue one, as well as normal
PLA for the pulleys and the gripper. It took me around 120 hours to print all
of the parts at 60mm/s printing speed. The base was the biggest part to
print which took around 32 hours. However, if we increase the printing speed,
we can definitely print the parts faster.

···

See also: Best 3D Printers for Beginners and Makers [2021 Update]
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Here are all of the 3D printed parts.
 

Just a quick note here, that I printed all of them with enabled Horizontal
expansion of –0.1mm in the slicing software. This enables the parts to have
more accurate dimensions, and fit better with the other mechanical parts like
the bearings, the rods and the bolts.

Assembling the robot

Here’s a list of components needed for assembling this Arduino based
SCARA robot. The list for the electronics components can be found below in
the circuit diagram section of the article.

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 

4x Smooth rod shaft – 10mm 400mm……… Amazon / Banggood /

AliExpress
1x Lead screw – 8mm 400mm ………………… Amazon / Banggood /
AliExpress
4x Linear bearings 10mm …………………..……. Amazon / Banggood /
AliExpress
1x Thrust ball bearing 40x60x13mm …..… Amazon / AliExpress
2x Thrust ball bearing 35x52x12mm …..… Amazon / AliExpress
5x Radial ball bearing 8x22x7mm ……………. Amazon / Banggood /
AliExpress ×
 Various lengths M3, M4 and M5 bolts and nuts


Disclosure: These are affiliate links. As an Amazon Associate I earn from

qualifying purchases.

Here are the bolts sizes required for this project:

We start the assembly with base. Here first we insert a radial ball bearing
with 35mm inner and 47mm outer diameter.

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Then it goes the first thrust bearing which has 40mm inner and 60mm outer
diameter. This bearing will sit between the pulley and the base.

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 

On the other side of the base, we use another thrust bearing of the same size
together with joint coupler.

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Then we can couple the pulley and upper part using four M4 bolts with
55mm length. We need to use self-locking nuts here and tighten them
appropriately so the joint is sturdy while being able to freely rotate.

Next, we need to install the middle pulley. This pulley is paired with the joint
pulley with a 300mm GT2 belt. For installing this pulley, we are using two 608
ball bearings, one on the top and the other at bottom side of the base. Then
using 45mm M8 bolt, a washer and a self-locking nut we can secure the
pulley in place.

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 

Next, we need to install the stepper motor for this joint. The stepper will be
paired with the middle pulley with a 200mm belt. For securing it to the base,
we need four M3 bolts.

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Before tightening the bolts, we need to stretch the belt as much as we can.

Just a quick note here that I actually replaced the M8 bolt for the middle
pulley with its head at the bottom so that it can fit within the base.

At this point, we should check whether the belts are tight enough. If not, we
can use some idler pulleys to tighten them better. Here I’m using a 35mm M5
bolt and some nuts to make the tightening pulley.

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 

It can be attached on the slots on both sides of the belt and so we can
tighten the belt as much as we want. I ended up tightening the belt on both
sides. With this, the first joint is completed.

I moved on with installing the micro switch for this joint. Before securing it in
place, I already soldered the wires to it, as it’s a bit tight here to do that after.
We need a 20mm M3 bolts and a nut to secure the micro switch in place.

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 

The joint coupler passes so close the switch that I ended up using only one
bolt for securing the switch. On the other hole I just inserted a shorter bolt
and glued it on the bottom side. That way the switch is secure enough and
can work properly.

Ok, so next we can start assembling the Z-axis. First, on top of the joint
coupler we need to secure the Z-axis bottom plate part.

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On top of it we can secure the four clamps for the smooth rods. Then we can
insert the smooth rods in place. They should fit tightly and go all the way
down to joint coupler part. We can than tighten the rods with the clamps with
some M4 bolts and nuts.

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At this point we need to insert the bearing for the lead screw. To finish this

section, we can just slide in a simple cover which will hide everything and
give cleaner look to the robot.

Next, we can move on with assembling the first arm of the robot. The arm
will be made out of two parts bolted together. The first part is where we need
to install the linear bearings which will slide through the smooth rods.
Inserting them in place can be a bit hard, because they fit quite tight.

Actually, this depends on how accurate your printer can print the parts.
Therefore, I suggest using the Horizonal Expansion feature when printing the
parts and adjust it according to your printer. In my case, I couldn’t fit two of
the bearings to go all the way down, but it’s not a big deal.

Ok, so now we can pair the two parts of arm together. For that purpose, we
will use four 25mm M5 bolts.
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Next, we can install the second stepper motor. Here I will use a 3D printed
GT2 pulley with 20 teeth. I made this pulley using the parametric design I
mentioned earlier and it works quite well. Here we also need to secure the
lead screw nut in place.

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Next, we can install the belts and pulleys for the second joint. Here we need

one belt with 400mm and one with 300mm length. The procedure for
installing them is pretty much the same as explained for first joint.

Here for the second joint and the third one, we actually use smaller bearings
compared to the first one. The radial ball bearing has 30mm inner and 42mm
outer diameter, and the thrust bearing has 35mm inner and 52mm outer
diameter.

Before installing the second joint coupler we need to insert six 20mm M4
bolts in the hexagon slots.

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They will serve for attaching the second arm to the joint. If needed, for
tensioning the belts we can use the same method as explained earlier with
idler pulleys. Finally, I secured the second micro switch in place and the arm
number one assembly was completed.

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I continued with attaching the second arm to the joint coupler. Here we use
those bolts in the joint coupler that we installed previously, to secure the
upper part of the second arm.

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At this point I wanted to test how much backlash the joints had. Sure, I

expected some backlash due to the belts, but there was actually way more
play between two parts of the joints. I noticed that the problem was that the
holes where the bolts go, are slightly bigger than the bolts their self. In order
to solve the problem, we need tighter fit between the bolts and the holes.

So, in my case I expanded the holes using 4.5mm drill, and used M5 bolts,
instead of the M4 bolts, for securing the two parts of the joint together.
However, I updated the 3D model so that holes are 3.5mm and you can use
the M4 bolts to join these two parts together. I also went back to the first
joint and did the same thing. Now the play in the joints is almost gone,
except for the small backlash that we get from the belts.

All right, so now we can continue with assembling the second arm. Here first
we need to install the stepper motor for the third joint.

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 

I’m using a smaller stepper motor in this case so that arm is a bit lighter. Still,
it’s a NEMA 17 stepper motor but with shorter 24cm length.

···

Again, we have the same procedure for installing the belts and the pulley for
the third joint, except that here we use just a single stage reduction with a
400mm belt. Next, before attaching this lower part of the arm to the upper
part, we need to connect the motor and the micro switch and pass their
wires through second joint. ×
 

At this point, we also need to insert the wires for the end-effector. In my case
I inserted a 4 wires cable from a stepper motor which I will use for driving
the servo motor for my gripper which requires 3 wires.

Next, we need to insert M4 nuts in the slots of the upper arm which will serve
for securing the lower part to it.

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 

Right before merging them, we should pass the wires under those hooks so
they stay away from the moving parts.

The wires coming out of the second joint can actually get caught by the nuts
on the pulley, so therefore I made a simple wire holder to hold the wires away
from the nuts.

···

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 

We should arrange the wires to pass on one side of the arm to avoid contact
with the moving parts. Finally, we can insert the cover of the first arm.

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The cover is secured to the arm with a snap-fit joint. With this, the robot arms

assembly is completed.

So next, we can insert this whole assembly to the Z-axis rods.

Then we need to prepare the Z-axis top plate which will hold the upper ends
of the rods. Here first we can install the micro switch for the Z-axis, and the
attach the for clamps to the plate.

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 

Before putting the top plate in place, first I inserted a simple cover just like
the one below, to hide the clamps, the bolts and the micro switch. Then we
can insert and tighten the top plate to the rods using the clamps.

···

Next, we need to insert the lead screw in place.

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 

The one I had was a bit longer, so I cut it to 38cm using a metal hand saw.
Next, we can attach the fourth stepper motor in place. Here we need to use a
5mm to 8mm shaft coupler for connecting the motor the lead screw.

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Finally, we can pass the wires through the cover and secure it to the top plate

using two bolts.

Ok so, next we can do some cable management. I used cable sleeves for
putting the wires together and clear the mess. I also used some zip ties for
that purpose.

Before putting the wires in the cable sleeves it’s a good idea to mark each of
them so you don’t connect anything wrong.

···
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 
What’s left now is to make the end effector of the robot. We can actually
make and attach any kind of end effector to the robot. I chose to make a
simple gripper which is driven by an MG996R servo motor. The gripper is
based on two 6mm rods on which the two sides slide.

The two sliding sides are connected to the servo with a servo horn, some 3D
printed links and M3 bolts and nuts. I used M3 bolts and nuts for the whole
gripper assembly. You can actually find a complete list of bolts and nuts
required for this project on the website article. The space for securing the
bolts and nuts is quite tight, so you need some nerves for assembling some
of these parts.

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 

Though, what’s good about this design is that we can easily change the
gripper ends. They can be wider or narrower or they can have a specific
shape. We can attach the gripper to the robot arm using some M4 bolts and
nuts.

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Finally, we can connect the servo motor to the wires that we installed

previously.

And that’s it, our SCARA robot arm is completely assembled. What’s left now
is to connect the electronics components of this project.

···

SCARA Robot Circuit Diagram

So, we will use an Arduino UNO board in combination with a CNC shield and
four A4988 stepper drives.

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 

Although it’s a robot and it seems more complicated, that’s all electronics we
need for this project. It’s worth noting that, instead of Arduino UNO, we could
also use an Arduino MEGA in combination with a RAMPS 3D printer
controller board.

Nevertheless, I 3D printed a case for the Arduino UNO which can be easily
attached to the base of the robot. I will use quarter step resolution for driving
the steppers, so I placed some jumpers in the appropriate pins. Now we can
connect stepper motors and the micro switches to the CNC shield.

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 

Here’s the circuit diagram of this SCARA robot and how everything need to
be connected.

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You can get the components needed for this project from the linksbelow:

···

Stepper Motor – NEMA 17……………… Amazon / Banggood / AliExpress

A4988 Stepper Driver…………………..… Amazon / Banggood / AliExpress
Arduino CNC Shield ………………………. Amazon / Banggood / AliExpress
Arduino Uno………………………………..… Amazon / Banggood / AliExpress
MG996R Servo Motor………………….…. Amazon / Banggood / AliExpress
Limit Switch …………………………………. Amazon / Banggood / AliExpress
DC Power Supply …………………………. Amazon / Banggood / AliExpress

Disclosure: These are affiliate links. As an Amazon Associate I earn from

qualifying purchases.

For powering the robot, we need 12V power supply capable of providing
minimum of 4A, but I would suggest 12V 6A power supply. Of course, this
depends on how the stepper driver’s current limitation is set, and I would
suggest to set it at lowest level possible.

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 

At the end, I squeezed all the wires in the case, while trying to leave the
drives heat sinks free, and added the cover to it.

Finishing the assembly

The SCARA robot is now completed, and what we need to do now is to
secure the base to something. For that purpose, I will use 20mm tick piece
of wood. At the bottom side of the robot base we have 12 holes available for
securing it. So, I printed a drawing of the robot base, and used it to make the
holes in the wood.

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 

At the bottom side I countersunk them as I will use flat head bolts so they
are flash with the wood surface. I inserted M4 nuts in the base slots and
then secured the wood base to the robot base.

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Now ideally, in order to fix the robot in place, we could bolt it to thetable or I
will simply use clamps for that purpose.

···

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So that’s it, our SCARA robot is now completely done. What’s left in
this video
though, is to take a look how the robot works.

See also: DIY Arduino Robot Arm with Smartphone Control

How the SCARA robot works

There are two methods for controlling robots in terms of positioning and
orientation, and that’s using forward or inverse kinematics.

Forward kinematics is used when we need to find the position and

orientation of the end-effector from the given joint angles.

···

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 

On the other hand, inverse kinematics is used when we need to find the joint
angles for a given position of the end-effector. This method makes more
sense in robotics as most of the time we want the robot to position its tool
to a particular location or particular X, Y and Z coordinates.

With inverse kinematics we can calculate the joint angles according to given
coordinates.

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 

The equations that I will use for both the forward and the inverse kinematics
come from trigonometry rules and formulas.

Programming the SCARA Robot – Arduino and

Processing Code
At the bottom of the article you can find both the Arduino and the Processing
codes.

Here’s how the equations look in a code, written in the Processing

development environment.

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 

···

// FORWARD KINEMATICS
void forwardKinematics() {
float theta1F = theta1 * PI / 180; // degrees to radians
float theta2F = theta2 * PI / 180;
xP = round(L1 * cos(theta1F) + L2 * cos(theta1F + theta2F));
yP = round(L1 * sin(theta1F) + L2 * sin(theta1F + theta2F));
}

So, with forward kinematics we calculate the X and Y value of the end-
effector, according to the set joint angles of the robots two arms, theta1 and
theta2, as well as their lengths L1 and L2.

On the other hand, with inverse kinematics we calculate the joint angles,
theta2 and theta1, according the given position or the X and Y coordinates.

/ INVERSE KINEMATICS
void inverseKinematics(float x, float y) {
theta2 = acos((sq(x) + sq(y) - sq(L1) - sq(L2)) / (2 * L1 * L2));
if (x < 0 & y < 0) {
theta2 = (-1) * theta2;
}

theta1 = atan(x / y) - atan((L2 * sin(theta2)) / (L1 + L2 * cos(theta2)));

theta2 = (-1) * theta2 * 180 / PI;

theta1 = theta1 * 180 / PI;

// Angles adjustment depending in which quadrant the final tool coordinate x,y is
if (x >= 0 & y >= 0) { // 1st quadrant
theta1 = 90 - theta1; ×
}
 if (x < 0 & y > 0) { // 2nd quadrant
theta1 = 90 - theta1; 
}
if (x < 0 & y < 0) { // 3d quadrant
theta1 = 270 - theta1;
phi = 270 - theta1 - theta2;
phi = (-1) * phi;
}
if (x > 0 & y < 0) { // 4th quadrant
theta1 = -90 - theta1;
}
if (x < 0 & y == 0) {
theta1 = 270 + theta1;
}

// Calculate "phi" angle so gripper is parallel to the X axis

phi = 90 + theta1 + theta2;
phi = (-1) * phi;

// Angle adjustment depending in which quadrant the final tool coordinate x,y is
if (x < 0 & y < 0) { // 3d quadrant
phi = 270 - theta1 - theta2;
}
if (abs(phi) > 165) {
phi = 180 + phi;
}

theta1=round(theta1);
theta2=round(theta2);
phi=round(phi);

cp5.getController("j1Slider").setValue(theta1);
cp5.getController("j2Slider").setValue(theta2);
cp5.getController("j3Slider").setValue(phi);
cp5.getController("zSlider").setValue(zP);
}

Depending in which quadrant the position is set to, we make some

adjustments to the joint angles with these “if” statements. For this
configuration of the robot we are actually calculating inverse kinematics with
just two links. The third angle which I call “phi” is be used for setting the
orientation of the gripper.

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 

The Graphic User Interface is made using the controlP5 library for the
Processing IDE. With this library we can easily create buttons, sliders, text
fields and so on.

For example, we use the sliders on the left side to control the joint angles,
and using the text fields we can enter the position where we want our robot
to go. With each action we take here with the program, we send data to the
Arduino board through the serial port.

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 

···

if (gripperValuePrevious != gripperValue) {
if (activeIK == false) { // Check whether the inverseKinematics mode is active, Executre Forward kine
gripperAdd = round(cp5.getController("gripperValue").getValue());
gripperValue=gripperAdd+50;
updateData();
println(data);
myPort.write(data);
}
}

This data includes the joint angles, the gripper value, speed and acceleration
values, and indicators for knowing whether we have clicked the save or the
run buttons.

public void updateData() {

data = str(saveStatus)
+","+str(runStatus)
+","+str(round(cp5.getController("j1Slider").getValue()))
+","+str(round(cp5.getController("j2Slider").getValue()))
+","+str(round(cp5.getController("j3Slider").getValue()))
+","+str(round(cp5.getController("zSlider").getValue()))
+","+str(gripperValue)
+","+str(speedSlider)
+","+str(accelerationSlider);
}
×
All this data comes as one long String at the Arduino. So here, firstwe need
to extract the data from that string and put it into separate variables.

if (Serial.available()) {
content = Serial.readString(); // Read the incomding data from Processing
// Extract the data from the string and put into separate integer variables (data[] array)
for (int i = 0; i < 10; i++) {
int index = content.indexOf(","); // locate the first ","
data[i] = atol(content.substring(0, index).c_str()); //Extract the number from start to the ","
content = content.substring(index + 1); //Remove the number from the string
}
/*
data[0] - SAVE button status
data[1] - RUN button status
data[2] - Joint 1 angle
data[3] - Joint 2 angle
data[4] - Joint 3 angle
data[5] - Z position
data[6] - Gripper value
data[7] - Speed value
data[8] - Acceleration value
*/

Now with these variables we can take actions with the robot. For example, if
we press the SAVE button, we store the current joint angles values in a
separate array.

// If SAVE button is pressed, store the data into the appropriate arrays
if (data[0] == 1) {
theta1Array[positionsCounter] = data[2] * theta1AngleToSteps; //store the values in steps = angles *
theta2Array[positionsCounter] = data[3] * theta2AngleToSteps;
phiArray[positionsCounter] = data[4] * phiAngleToSteps;
zArray[positionsCounter] = data[5] * zDistanceToSteps;
gripperArray[positionsCounter] = data[6];
positionsCounter++;
}

If we click the RUN button, we execute the stored steps and so on.

For controlling the stepper motors, I used the AccelStepper library. Although
this is a great library for controlling multiple steppers at the same time, it has
×
some limitations when it comes to controlling a robot like this. When
controlling multiple steppers, the library cannot implement acceleration
 and
deceleration, which are important for smoother operation of the robot.

···

stepper1.moveTo(stepper1Position);
stepper2.moveTo(stepper2Position);
stepper3.moveTo(stepper3Position);
stepper4.moveTo(stepper4Position);

while (stepper1.currentPosition() != stepper1Position || stepper2.currentPosition() != stepper2Positio

stepper1.run();
stepper2.run();
stepper3.run();
stepper4.run();
}

I still managed to implement acceleration and deceleration with the library,

but they are not as smooth as I wanted to be.

Here are full Arduino and Processing codes for this Arduino SCARA robot
project:

SCARA Robot - Arduino and Processing Codes Download

1 file(s) 5.50 KB

Wrap up ×
So finally, once we upload the code to the Arduino, we can run the
processing program, connect the power and the scara robot will start moving
to its home position.

From there on, we can do whatever we want the it. We can play around
manually or set it to work automatically. Of course, we can attach any kind of
end-effector and make cool stuff with it. For example, we can even attach a
3D printer hot end to the robot and so make the robot a 3D printer, or attach
a laser head and make it a laser cutter. I do plan try these two ideas, so make
sure you subscribe to my channel so you don’t miss them in some of my
future videos.

Before this video ends, I would like to give you few more notes about this
project. I found the robot to be not as rigid as I expected.

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 

···

I guess the problem is that almost the entire SCARA robot, the Z-axis and the
arms are supported only by the first joint. The whole weight and the inertial
forces generated when moving, can make quite a stress to base where the
first joint is located, and as it’s just a plastic it tends to bend a little bit. Also,
these belts are not backlash free so we reduce the robot rigidity with that
×
too. However, I think the overall project is good enough so you to learn
 how
SCARA robots work, and gives you the courage to build one for yourself.

Feel free to ask any question in the comments section below and check
my Arduino Projects Collection.

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106 thoughts on “SCARA Robot | How To Build Your Own Arduino

Based Robot”

Bob found
February 6, 2024 at 7:54 pm

Just started on this project after having completed the Perseverance

Mars Rover. Great project! Regarding this robot arm, Dejan made a
comment about bearings not fitting (due to plastic shrinking when
×
cooling). With the Rover, I had LOTS of bearings that didn’t fit and the
best/fastest/easiest solution was to use my heat gun to heat up
 the
bearing holder for about 15 seconds. (When the plastic started to get
glossy, that was good). Then just press the bearing into place. When
plastic cools that bearing is secure and will never drop out.

Reply

Dejan
February 10, 2024 at 4:59 pm

Glad to hear it, I hope you had fun building these projects. And yeah,
that’s a good tip for inserting the bearings in place, though I bit risky
if as you might have trouble if you want to remove it.

Reply

Luigi V.
November 12, 2023 at 5:49 pm

First of all very nice Works the better part is the projecting part with
Solid Works!
Just to clarify some problem that i found setting the CNC shield:
1- Need to put a jumper between EN/GND on CNC Shield otherwise
the motors doesn’t move.
2- Need to Put 2 Jumpers on D12 and D13 very near×to the power
connection on the CNC Shield otherwise the Z Axis Doesen’t move.

3 – The pin for control the servo need to be connected on the White
pin (Abort) and not to the Black one (The image Up is wrong!)

Bye!

Reply

Mauricio
November 5, 2023 at 6:33 am

Hello Dejan, great project, I used your model to modify it and turn it
into a cylindrical robot thanks

Reply

Dejan
November 5, 2023 at 12:11 pm

Thanks, glad to hear it you found it useful!

Reply

×
 
Fernando Ruiz
November 15, 2022 at 5:15 am

Fantastic job, I already have everything functional except the servo

clamp, I have done individual tests and apparently the servo motor
works but when trying to control it with processing it does nothing, I
would like your help please.

Reply

Dejan
November 17, 2022 at 10:35 am

Glad to hear you have made it! Well year I was experiencing such a
problems at times. The problem is the serial communication I guess.
Try to send and receive the commands in Processing a bit different.
At this moment I cannot think of what exactly you can change to get
better results.

Reply

LE BRETON
September 26, 2022 at 3:58 pm
×
 
Hello.
I am fascinated by this SCARA project and it is with deep satisfaction
that I followed your tutorial.
I would like to know what instructions to modify in the arduino code
to use it with a 1/16 step setting instead of 1/4.
Thanks a lot.

Reply

Dejan
September 27, 2022 at 4:36 pm

Hey, thanks! Well you will have to change the “AngleToSteps” values
which are defined at the beginning. Those values say how many
steps the motor should do in order to complete particular angle. If
you go from 1/4 to 1/16, that’s 4 times more steps are required. You
might find the robot moving a bit slower that way as well.

Reply

Stephen Hunter
September 23, 2022 at 10:02 am

×
 
Hi Dejan
Thanks very much for publishing the project. Just finished it, great
learning project for a beginner like me. It’s a little bit shaky and my
wiring is a mess(had to breadboard it, as the shield refused to work)
but it works.
Keep up the good work

Reply

Dejan
September 26, 2022 at 1:09 pm

Hey, great to hear it you made it! Yeah, it’s a bit shaky, but the main
purpose I guess is achieved, “great learning project”. 🙂
Cheers!

Reply

Griffin
April 7, 2022 at 7:17 pm

I have confirmed that my electronics are ok, as well as the baud rate
and port. I also uncommented that line of processing code. But after
×
power on, the robot still doesn’t work. I desperately need your help,

I’ve lost sleep over this for days.

Reply

Dejan
April 7, 2022 at 8:37 pm

Hi there. Please provide some more info, for example, do you get any
errors in the Processing or Arduino IDE console, or have you tried
testing the drivers and motors work with a simple code to check
whether they work.
There can be many things that could cause problems. You must try
each components first, whether they work properly with simple
codes just testing them.

Reply

Jackson Metcalf
March 27, 2023 at 1:11 am

What you should do is check the GUI code for where it has myPort =
new Serial(this, “COM3”, 115200); commented out and uncomment
it out, then close arduino and processing, reopen processing, plug in
your USB and power, then run the GUI and it should× work.
 Reply


Eyal
February 22, 2022 at 7:25 pm

Hi Dejan.

Your project is superb! really enjoyed watching it (through all its

versions).
I have one question that I couldn’t figure out and didn’t see anything
about it above. As much as I understand, you were using the Abort pin
(which is A0) to control the grabber servo – how can you do that?
(isn’t the MG996R is PWM?)

Appreciate any help here – that might solve a problem I’m dealing
with in my project.
Thank a lot.

Reply

Dejan
February 22, 2022 at 9:13 pm

Thanks!
Well you actually don’t need PWM output pin from ×the Arduino to
 control a servo motor, you can use any digital or in this case analog

input to control a servo motor. The servo library uses different
method for generating “PWM” signal needed for controlling the
servo motor. Check my detailed tutorial for controlling servo motors
with Arduino.

Reply

Serhat AYDIN
February 4, 2022 at 7:15 pm

51108 – 40x60x13mm – x2
51107 – 35x52x12mm – x4
6807 2RS (61807) – 35x47x7 – x1
6806 2RS (61806) – 30x42x7 – x2
608RS – 8x22x7mm – x5
LM10UU – 10x19x29 – 10mm – x4
GT2-200mm – x1
GT2-300mm – x2
GT2-400mm – x2

I think this is the correct list. I just open the STEP file and checked
from there

Reply

×
 
Dejan
February 7, 2022 at 8:35 am

Yeah, thanks for the input!

Reply

Serhat AYDIN
February 4, 2022 at 6:15 pm

The project looks really good; I printed all model files and really
excited to make assembly. I ordered bearings according to the list
above; however while checking the video, I noticed the list is missing.
It would be really helpful for you to create a checklist for the
mechanical and electronical parts used in the project. Thanks a lot for
sharing such good projects; the community needs people like you:)

Reply

Casey Robinson
February 1, 2022 at 5:47 pm

×
 
I’m doing this project with some of my high school Robotics students,
this is an excellent project! I do have a question regarding the GT2
belts, are the correct belts available on Amazon, or another vendor.
Thank you for sharing this project!

Reply

Dejan
February 7, 2022 at 8:43 am

Glad to hear it, I hope the students will have fun and learn new stuff
when building it. The GT2 belts should be available on Amazon. You
need the following belts: 200mm x1, 300mm x2, 400mm x2.

Reply

Jack Su
January 2, 2022 at 12:10 pm

Hello, I also want to make this interesting product, but I need

Solidworks drawing files of each part, don’t know if you can provide
it? Thank you!

×
Reply


Dejan
January 7, 2022 at 9:59 pm

You can download the 3D model and from there make your own
drawing files if you need them.

Reply

mohamed
October 28, 2021 at 4:12 pm

it is amazing project and very good effort .we intend to make it as a

graduation project .we need to know the max load . anyone who made
the project and test it can help us?

Reply

Dejan
October 28, 2021 at 9:11 pm

×
 
Thanks. I haven’t tested the max payload, so I cannot give you any
info at this moment. Go a ahead and have fun building it.

Reply

Sean Morton
September 15, 2021 at 9:43 pm

Hi Dejan, thank you for providing us with these designs. I was looking
at the Arduino schematic, and the A-axis stepper driver (bottom right)
looks different from the others. Does this motor use a different
stepper driver than the others? My leadscrew motor on the SCARA
arm isn’t working currently, so I’m wondering if the board could be the
reason.

Reply

Dejan
September 23, 2021 at 4:56 pm

Hey, all stepper drivers are the same. What is happening with your Z-
axis motor, try to connect it to a different port so you check whether
your driver works properly.
×
 Reply


Doug
June 30, 2021 at 1:33 pm

Hi Dejan,
Big thank you for your fantastic project.
Children in our robotics class brought this robot
to my attention.
We have started talks about building your robot as
we have a 3d printer but when downloading the rar files for the
stl’s the rar opens with “The rar archive is either unknown format or
damaged”.
I have tried different browsers but to no help.
Other rar,s we have open fine.
Thanks
Doug

Reply

Dejan
June 30, 2021 at 1:43 pm

Hi, thanks, glad to hear it.

I just tried downloading the file and it works fine on× my computer. So
 I’m not sure why you cannot open it. It should work, try another

computer.

Reply

John
June 28, 2021 at 3:39 am

Hi. That is a nice project. So, I’m graduating from college and wanted
to use your mechanical project with my own control program. I will try
to publish the final article. Can I, and how can I cite your project
properly in the References? Thanks.

Reply

Dejan
June 30, 2021 at 2:18 pm

Hey, have fun building it! Sure you can include a link to my website
as reference.

Reply

×
 
Majid Bejjaji
June 18, 2021 at 2:37 pm

Hi Dejan,
I have a question regarding this part of your code:
“gripperServo.attach(A0, 600, 2500);
// initial servo value – open gripper
data[6] = 2500;
gripperServo.write(data[6]);
delay(1000);
data[5] = 100;
homing();”
I am not sure why you did not use the Arduino map() to map the 600
min value to 0 degrees and 2500 max value to 180 degrees.

Reply

Majid Bejjaji
June 11, 2021 at 1:16 pm

Hi Dejan,
Can you please confirm my taught.
Based on your Arduino Code, the Robot Arm should go to home
position without any intervention of processing code. Could my issue
be caused by my stop switches (NO vs NC) ×
void homing() { 
// Homing Stepper4
while (digitalRead(limitSwitch4) != 1) …
if the wrong switch is used we will never meet this condition ” while
(digitalRead(limitSwitch4) != 1)” and therefore the stepper motor will
not home.

Reply

Amir
June 10, 2021 at 10:56 pm

Hello sir , what is the payload of this scara robot and how to calculate
it.
I like your Robot so much sir, thanks for your works.

Reply

Majid Bejjaji
June 10, 2021 at 12:00 pm

Hi Dejan,
I am sure it is COM issue, I used a different laptop and different USB
cables. I tried different Arduino and CNC shield and ×still did not
resolve the problem. I am running out of ideas. I really want to finish
this project to share it with my student, I am will to pay anyone who

can help.
Do I need to change anything on the code besides uncommenting
COM3 line?
To remind you, I am able to control each joint separately using the
example provided by Arduino. Here is my number and email if
someone would like to contact me and I am serious, I will pay for
anyone who can help

Reply

Majid Bejjaji
June 4, 2021 at 12:34 pm

Dear Dejan

I want to thank you in person for all your hard work in contributing to
learning and education. I am a teacher and I would like to use your
Scara Robot in my classes for teaching robotics.

I have 3D printed all the parts, assembled them and tested every
stepper motor independently, all motors and axes are working fine
using the StepperMotorTest sketch provided by Arduino but when I
use your Arduino and processing codes you have provided nothing
happened. I am not sure what I am doing wrong.

I uploaded the Arduino code first to Arduino then I closed

× this sketch
so the COM12 port is available for communication with processing
application when transmitting serial data. 

The only thing I have changed in your processing code is changed the
COM3 port to COM12 poret instead and uncommented this line:

//myPort = new Serial(this, “COM3”, 115200);

myPort = new Serial(this, “COM12”, 115200);

I am not sure if I have to change anything else in the codes?

I also used a DRV8825 driver instead of A4988 driver and set its Vref
to 0.8 Volts but I think this shouldn’t matter since I am able to drive
my motor with the stepperMotoTest Arduino sketch.

Thank you in advance for your help.

Reply

Dejan
June 7, 2021 at 10:20 am

Hey, as you have tested that the steppers work with the basic
example code, then the problem is still the serial communication.
You have done right with uncommenting that line and modifying it
according to your COM port but not sure yet why it’s not working.
Though, if you are using a MacBook this line should be a bit
different. ×
 Reply


Kirill
January 31, 2021 at 10:23 am

Hi!
I like your robot and want to make the same.
i have 2 questions:
1. how to instal the second servo?
2. how to add functions “save g-code” and “load g-code” in control
program?
PS
you didn’t show thet for connecting A axis we need to add two
jumpers

Reply

Dejan
January 31, 2021 at 2:52 pm

Hey, thanks! Well you can install a second servo just like the first one
is installed, you can control it if you have available pins for
controlling it. As for saving and loading g-code, I though of making
that feature, but I didn’t have the time for doing it. I cannot give you
×
 any tip on that as I haven’t tried implementing such a code 
elsewhere, but of course, it’s possible.

Reply

Anthony Lombardo
January 22, 2021 at 9:24 pm

Are the limit switches NO or NC?

Reply

Dejan
January 31, 2021 at 11:24 pm

They are Normally Closed.

Reply

RaRo
January 19, 2021 at 7:16 pm

×
 
I have a problem with the robot arm gripper. Jaws are powered by
MG-996R servo and controlled by Arduino Uno (Pin A0) via CNC
Shield v3. After the command to close the jaws on the gripped object
(approx. 360 mA current flows in the servo power supply circuit), the
gripper locks, i.e. the jaws cannot be opened. A servo’s low noise is
heard and current is greater than 200mA. I understand that the servo
“wants to” reach the given position, but the object in the jaws resists
preventing the servo from turning. But why does the gripper jam and it
does not respond after giving the command to open the jaws?
Without clamping the jaws on the workpiece, the gripper works
without problems.
I am asking the author of the project or colleagues for help in solving
the problem.

Reply

Theodore
January 20, 2021 at 4:25 pm

Hi
I have posted some issues , that I am encountering using the Scara
control program , it seems to be buggy and is not full proof , please
read my post and let me know if you have the same issues or have
solutions for me
Thanks

×
 Reply


automatiartisan
March 22, 2021 at 9:04 pm

Hi. This gripper designs is very similar to mine

(https://www.instagram.com/p/Bx-mb4yJr74/). In my experience,
the best you can do is adjust the servo value according to the size of
the object (by trial-error). You can also turn off the servo after, lets
say, 0.5 seconds (works for light objects). Either way the servo
should not be stressed. Good luck!.

Reply

RaRo
January 18, 2021 at 10:27 am

I have a problem with the gripper. When clamped on an object, the

servo locks and the gripper does not open! What is causing this
problem? Opening and closing the gripper without clamping the
workpiece works without any problem. I am asking for help in solving
the problems.

×
Reply


Theodore
January 18, 2021 at 8:05 pm

Hi
I have also built the Scara , and I have a few issues , maybe you can
help
After it homes , I’d I press the gripper slider
To any value , it just drops down the z
And my gripper hits the table
Do you know what the problem is ?
Here is a post I left on how to Mechatronics
https://www.facebook.com/1590609764485967/posts/292050697
1496233/?d=n

Reply

Majid Bejjaji
June 16, 2021 at 10:00 am

HI Raro, I am having the same issue, were you able to resolve the
this issue?

×
 Reply


Majid Bejjaji
June 18, 2021 at 1:50 pm

Hi Raro,
Were you able to resolve your issue with gripper, I am having the
same problem and I am hoping you can help. My Robot Arm goes
down on the Z axis when I try to close or open the gripper.

Reply

Guerrino
January 8, 2021 at 5:55 pm

Hi, I found that the holes of the gripper servo holder part do not
match up with the gripper cover part. do you think it’s possible or am I
wrong? can you check it please. thanks

Reply

RaRo ×
December 24, 2020 at 9:03 am
 
How is the MG996R servo powered? Has a separate 5V power supply
or is it powered from the 5V connector on the CNC Shield v3?

Reply

Dany Lipsker
December 23, 2020 at 6:59 pm

Sir:
you did anoutstanding and remarkable piece of work

Reply

Dejan
December 24, 2020 at 8:10 am

Glad to hear it, thanks!

Reply

Theodore
January 20, 2021 at 4:20 pm
×
 
Hi Dean
I have some issues when using the
Processing pde Scara program , i don’t understand why sometimes
when I go to a position , then move the gripper slider
It immediately goes back to
X 365, y 0 and z
Why is that ?? It shouldn’t do that
Also my gripper is opened at 0 degree and closed at 90 degree
Is there a way to change that in the program?
And what is the best way to communicate with you , I have posted
in your FB, sent messages through messenger, left comment on
YouTube , and also here
I need your assistance , since you are the creator , I’m not that great
at programming –

Reply

Dan
December 20, 2020 at 4:10 am

Great project, built it and it works great. Had to make a few

adjustments but your tutorials got me passed any issues. Would like
to know if you have any problems with me showing the copy of your
arm that I built with a few modifications I would like to make in my
YouTube Channel. Of course, at the beginning I would reference you
as the project creator and reference your channel as× where I was able
to learn a lot with various videos. If there is a problem then I will
great
my own arm which would not be a copy of yours. Please let me know
what you think. One other thing I am a retired 81 year old Programmer
that has a hobby of building robots and drones. I do create free
videos to help others as online videos have helped me.

Reply

Dejan
December 24, 2020 at 8:20 am

Thank you! Well I’m glad you found my work helpful. Sure, go ahead
and share the video of the arm you made, I would love to see it. You
can also share it here in the comments section so other people can
see it from here. Cheers!

Reply

Dan
February 24, 2021 at 7:01 am

Dejan
Thank you for your interest in my copy of your robot. I just
published the first of two videos on my YouTube Channel “LotBot
Robotics”. I am not sure how it will be included but I am putting the
YouTube entry from my channel here. ×
 (https://youtu.be/FKMeaDhvkUk) It is called “Using a STM32F4

Black Pill to control a SCARA Robot remotely Part 1 Feasibility”

Reply

Dan
April 30, 2021 at 4:06 am

Dejan
I finally finished my project and I ended up with four videos.
However only the second one has some good demos of my copy of
your robot being controlled remotely. https://youtu.be/qc-aMplBsZc
can be found at my YouTube Channel “LotBot Robotics” The Part 3
and 4 are code discussions I used. Part 1 was the video I already
replied about. Thank you very much developing interest project I
can learn from.

Reply

Theodore
January 15, 2021 at 12:48 pm

Hi,
I also built the Scara Robot. I modified all the 3D models
× to
accomodate
with all the components i had existing from my other projects,
and
even added some 3d features to simplify the routing of the cables in
the interior of the Arms.
I am using 12mm linear shaft and flanged bushings along with a 12
mm lead screw and nut with lead 8mm and 2mm pitch. I have also a
solid aluminum base frame structure which i am houing the power
supply, the arduino uno and cnc shield, the step down voltage
converter and fan and the ac power switch from the rear.
The Homing sequence works perfect, the only issue i am having ang
i am confused.
When it fiishes the homing sequence the x,y,z are at 365,0,170. My z
is slightly different than the one on youtube due to my heights of the
linear shafts. Once i press the gripper value slider to open, it dives
down in the z and hits the table. What can i change in the pde to
stop that, it really shouldn’t do that, it should only move the gripper
to where i want it to be open, closed or whatever it needs to be.Your
help would be appreciated

Reply

Majid Bejjaji
June 25, 2021 at 10:59 am

Hi Theodore,
I having the same issue like you are having. my Homing sequence
works perfect as you, the only issue I am having too is when I want
to close or open the gripper then the Robot Arm dives down in the z
× a lot of people
axis. where you able to resolve this issue. I am sure
 are having the same issue. I really want to complete this nice

project. I am prety sure Dejan can help but he is probably very busy
and I understand.

Reply

RaRo
December 14, 2020 at 7:31 pm

There is a lot of progress! Robot starts up! Now the mechanics need
to be improved a bit.

Reply

Kyle
December 13, 2020 at 10:04 pm

Hello,

I love this project and you’ve inspired me to make one of my own!

Before I get too far in though I’m curious about your results.

What do you think is the maximum payload of this arm? And what
sort of precision/repeatability have you achieved? ×
It’s always nice to see new projects from you, thank you for what
 you
create!

Reply

Dejan
December 24, 2020 at 8:30 am

Hey, thanks! Well I haven’t made a test about the maximum payload.
As can be seen at the end of the video, there is a little play in the
arm, so realistically it doesn’t have that great precision or
repeatability. Ways to improve it would be using bigger/ wider
bearing at the base joint, using maybe better belts or maybe reduce
the number of belts or reduction stages from two to one. Also these
Z axis rails are quite good.

Reply

···

×
 
Kyle
January 19, 2021 at 5:28 am

Hey Dejan, thank you so much for the reply!

I’ve made my own arm now- mainly based on your design! (I

cheaped out in a few places haha) and it has definitely been a fun
learning experience so far!

I’ve got it moving to specified coordinates no problem now. It

would be awesome to see a way to implement g-code on the arm,
I’m trying to figure that out but it’s all a bit beyond me right now. A
tutorial like that would be amazing.

Thank you again for inspiring me to make this, it has been a lot of
fun to design!

Reply

RaRo
December 10, 2020 at 10:43 am

I assembled the robot. Unfortunately it does not start! Nothing

happens when the power is turned on. Please help.
×
Reply


Dejan
December 13, 2020 at 8:22 am

Hey, is there any progress with it? I mean there are so many things
that could be wrong. You should start with checking whether you
electronic components work properly, like your Arduino, the CNC
shield or your stepper drivers. Try to use a simple code to try to run
just a single motor for several steps to see whether they work. If the
electronics work, you should move troubleshooting the software
part, or the Processing code. Also, they simpler code or movements
and make sure your baud rates and COM ports are correct.

Reply

RaRo
December 6, 2020 at 4:08 pm

Congratulations – great job.

According to the description, the third degree has a ratio of 1: 4. In my
opinion, it is 1: 4.5 (20/90 = 4.5). Is it so?

Reply
×
 
Dejan
December 13, 2020 at 8:24 am

Yes, actually that’s correct!

Reply

···

Sivaguru Mudaliar
December 3, 2020 at 3:38 am

Good project! I may build one. The details are very good with
explanation given step by step. Perhaps the base joint can be
supported with a “Lazy Susan” bearing. I have used it on another
5DOF robot arm project with better results.

×
Reply


Dejan

···
December 13, 2020 at 11:00 am

Nice to hear it! Yeah, the base joint needs better, wider bearing for
sure.

Reply

Guerrino
November 27, 2020 at 6:02 pm

Sorry, here english version

Hello, I follow all your projects. SCARA robot is very interesting, they
are under construction. A small note: the bearing housings need to be
a little bigger. For example, the bearing seat 608 should be increased
by about 2 tenths already in the design phase. 22mm outer diameter
could be 22.2mm design. This increase also for the seats of the other
×
bearings. Good work, I am waiting for other excellent projects.
Reply


Guerrino
November 27, 2020 at 5:59 pm

Buongiorno, seguo tutti i suoi progetti. SCARA robot è molto

interessante, sono in fase di realizzazione. Una piccola nota: gli
alloggiamenti dei cuscinetti devono essere un po’ maggiorati. Per
esempio la sede del cuscinetto 608 andrebbe aumentata di circa 2
decimi già in fase di disegno. Il diametro esterno di 22 mm potrebbe
essere a disegno di 22.2 mm. Tale maggiorazione anche per le sedi
degli altri cuscinetti. Buon lavoro, sono in attesa di altri ottimi
progetti.
example

Reply

Peter
November 24, 2020 at 7:04 pm

Love it! Can you explain the joint design? I understand the thrust
bearing but why do you also need a radial bearing? More stability?
Unfortunately my Prusa Mini can’t print this project so I need to
×
design a smaller version. Last year I tried to use Processing to
control
a cartesian CNC but failed… will have to try adapting your code 🙂
Reply

Alain

···
November 8, 2020 at 7:09 pm

Hi Dejan,
Thanks for the updates to your post! I just completed the build and it
works pretty good with reasonable backlash to the main joint. Still it
feels pretty sturdy with fast movement on the arm joint. Other thing I
noticed mechanically is that ‘cheap’ Z-rod axis are also potential to
give some ‘wobble’ during Z-movement ;).

About your Arduino code, I had to trim down the stepper1 speed and
homing speed to surely half of it. Not sure what is different there.
I used (in setup method):
stepper1.setMaxSpeed(200);
stepper1.setAcceleration(500);

and in ‘homing’ method:

stepper1.setSpeed(-200);
stepper1.runSpeed(); ×
stepper1.setCurrentPosition(-1978); // When limit switch pressed
 set
position to 0 steps //-3955

I also had to trim the stepper1 position on the limitswitch back to

half. Not sure what caused that.

Can you confirm or suggest otherwise on the two ‘stepper1’ tweaks?

Cheers!

Reply

Martin
November 5, 2020 at 9:52 am

HI,
Firstly it is great work sir.

In stl zip file is missing “gripper wide end.stl” for left/right side
can you upload it please?

Thank you

Reply

Dejan
×
November 6, 2020 at 1:01 pm
 
Hey, thanks. Yeah, that file was missing, thanks for the report. I’ve
updated the files.

Reply

rajmeet
November 1, 2020 at 4:21 pm

Really nice project, lots of learning

Reply

strasni
October 17, 2020 at 3:33 pm

Hi,
Great project, Im just printing the parts, but I’m missing the stl of the
arduino box an smooth rod clamps.
Could you please upload these?

thanks

×
Reply


Dejan
October 20, 2020 at 6:14 am

Hey, thanks! I’ve updated the download file and included those files.

Reply

Ralph lauterbach
October 17, 2020 at 11:54 am

Hi
Your STL files are missing the clamps for the 4 rods..
Ralph

Reply

Dejan
October 20, 2020 at 6:14 am

Hey, thanks for reporting it, I’ve just updated the files with the
clamps. ×
 Reply


Viktor
October 15, 2020 at 2:32 pm

Hello Dejah,
Very nice project, but there is some questions about formulas for
forward and inverse kinematics.
Forward kinematics:
If angles are given as in pictures, then “x” coordinate proportional to
the sinus of respective angles and it would be:
x=L1*sin(theta1)+L2*sin(theta1+theta2), same thing(means cosine)
for the “y”. Probably, the angles should be Pi/2-thetas
Inverse kinematics:
1) Lengths L1 and L2 should be squared (like in your program)
2) Minus, there should be -L1^2 and -L2^2 (as we can see in your
program)
3) As in Forward kinematics, you should change the angles in the
pictures

Reply

Dejan
October 20, 2020 at 6:40 am

×
 
Hey Viktor, thanks for the input, you are right. I’ve messed up a little
bit those formulas. I updated the image now. Instead of changing
the angle in the picture though, I changed the x and y formulas,
which I hope won’t cause confusion for the other people. I guess the
angles adjustments I had to do in the program after the formulas are
caused because of how these formulas are set. However, the
formulas are correct now so people can make changes in the code if
needed appropriately. Thanks again, cheers!

Reply

Ahmed
October 14, 2020 at 5:16 pm

thank you, this a good work

Reply

Justin Jose
October 14, 2020 at 2:49 am

Hello Dejan,
×
Nice and amazing project! Would it be possible to connect all this
 to
your custom made pcb you made in the Arduino robot and mecanum
wheels project? I was wondering if I could connect it to my phone and
control it using bluetooth…

Reply

Pawel
October 13, 2020 at 7:04 pm

Dear Author,
One STL file is missing – those 4 small elements to keep rods in
place

Reply

Dejan
October 20, 2020 at 6:42 am

That’s right, I’ve just updated the files, thanks!

Reply

×
 
Alain
October 13, 2020 at 5:43 pm

Hello Dejan, Awesome project and really great how you described the
project and the build instructions. I’m now trying to build the robot as
well and some printers are buzzing away right now.
Am I correct to detect that the 8mm rod 400mmm clamp-model (8x
to be printed) is not in your STL export archive?

Reply

Dejan
October 20, 2020 at 6:43 am

Hey, thanks! Yeah, they were missing. I’ve just updated the files now.

Reply

Niclas
October 10, 2020 at 11:01 am

hey love the project started printing the parts yesterday 🙂 i have a
question: the kinematic model you used in the processing
× ide, would
it be possible to implement that directly in the arduin itself? i want
 to
hard program the positions the robot drives to and hope i wont need a
pc or raspberry pi for that? thanks for sharing this project 🙂
Reply

Dejan
October 12, 2020 at 7:50 am

Hey, thanks! Sure, you can do that. You can calculate the kinematics
model with the Arduino and do whatever you want with it. I used the
Processing IDE just to make an easier GUI for controlling the robot.

Reply

Roberto Mora
October 8, 2020 at 11:47 pm

Awesome project!!!. Little question, maybe i miss that part, but how
much PLA (kg) do we need for making our own SCARA?

Reply

×
 
Dejan
October 10, 2020 at 7:54 am

Thanks! Hmmm, I didn’t keep track of that, so I couldn’t tell exact

number. Something around 1 to 1.5kg I think.

Reply

Ernesto
October 8, 2020 at 10:21 pm

Hello

It seems the stl file link does not work..

can you something about it?

thanks

Reply

Dejan
October 10, 2020 at 7:55 am
×
 
You can’t download them or you can’t open the files? In the first
case, try to use different web-browser for downloading them.

Reply

Leo
October 7, 2020 at 12:19 pm

Hello Dejan, I’m currently sourcing all the parts to build this robot. Q:
what is the width of the GT2 timing belts? Thanks for publishing yet
another great project!

Reply

Dejan
October 8, 2020 at 7:56 am

Hey, the width of the GT2 timing belts is 6mm.

Reply

Eric Marks ×
October 7, 2020 at 9:34 am
 
Hello Dejan,
Great project, great work, you did very well. Looking forward to the hot
end for 3D printers and the laser cutter 🙂
How about a vacuum suction cup?

Greetings from Germany

Eric

Reply

Dom
October 7, 2020 at 3:58 am

Awesome project. Can’t wait to build mine. At what layer height and
infill % did you print the parts at?

Reply

Dejan
October 7, 2020 at 8:25 am

Thanks! I printed the parts at 0.2mm layer height and around 30%
“cubic” infill. ×
Have fun building one!
 Reply


Dimitar Manovski
October 6, 2020 at 7:40 am

Very cool project. Thanks for sharing 🙂

Reply

Jim Green
October 3, 2020 at 12:20 pm

Can you get a turtorial for funsion360? I think it a wonderful software.

Because i found you use it in every project.

Reply

TODD LARY
October 5, 2020 at 8:36 pm

Great project I am going to give it a try!

I couldn’t find the list of hardware, bolts and nuts. Could
× you send
 me a link to that please

Thanks!

Reply

Nicholas Kerley
October 3, 2020 at 12:10 pm

Once again another awesome project of yours that i will want to build.
In reference to the first Z-axis joint flexing to much, I’ve found that
using a slew bearing takes all the strain of the servo.

Reply

Dejan
October 6, 2020 at 7:44 am

Thank you, have fun building one!

Reply

Theodore
October 8, 2020 at 6:50 am
×
 
Hi,
Excellent work, very well explained. Can you please tell me
how do I use the GUI Scara robot interface ? I never worked with
.pde files. How do I run the .pde files ? Also if I build the Scara can I
use different lengths for the arms and modify those parameters in
Arduino ?
what parameters would I need to modify

Reply

Dejan
October 8, 2020 at 7:55 am

Hey, thanks! Well the GUI is made using Processing IDE, so you
need to install it on your computer and then run the program on it.
The Arduino is connected to the computer and through the
Processing IDE they are able to communicate through the serial
port. For more info about this you can check some of my other
tutorials related to this topic, you can use the “Search” button
function on the website.
As for the arm lengths, sure you can modify them. In the
Processing code you just have to change the L1 and L2
parameters to match with your actual lengths so the Forward and
Inverse kinematics is calculated correctly.

×
 Reply


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Hey I'm Dejan, a maker, a techie and a mechatronics engineer. I love making
electronics and robotics projects for you to learn and make something cool on your
own.

Don't forget to check my 650K+ subs YouTube Channel.

×
 

Table of Contents
1. Overview
2. SCARA Robot 3D Model
2.1. 3D Model and STL Download Files
3. 3D Printing the robot parts
4. Assembling the robot
5. SCARA Robot Circuit Diagram
6. Finishing the assembly
7. How the SCARA robot works
8. Programming the SCARA Robot – Arduino and Processing Code
8.1. SCARA Robot - Arduino and Processing Codes
9. Wrap up

···
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