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Scara Robot

The document describes the design and working of a SCARA robotic arm that uses 4 NEMA-17 stepper motors and an ATMEGA-328P microcontroller to replace multiple CNC machines with a single robot. It uses forward and inverse kinematics to control the robot's position across the x, y, and z axes and can be modified with different end effectors to function as a pick and place machine, laser engraver, or 3D printer. The robot is controlled through a graphical user interface created in Processing that allows for both forward and inverse kinematics control.

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005 Hari kamalakar
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129 views

Scara Robot

The document describes the design and working of a SCARA robotic arm that uses 4 NEMA-17 stepper motors and an ATMEGA-328P microcontroller to replace multiple CNC machines with a single robot. It uses forward and inverse kinematics to control the robot's position across the x, y, and z axes and can be modified with different end effectors to function as a pick and place machine, laser engraver, or 3D printer. The robot is controlled through a graphical user interface created in Processing that allows for both forward and inverse kinematics control.

Uploaded by

005 Hari kamalakar
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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SCARA ROBOT

AIM:
To build a SCARA robotic arm which can be used to replace
multiple CNC’s in industries with a single robot.

MATERIALS USED:
1. NEMA-17 stepper motors
2. MG-99R servo motors
3. ATMEGA-328P microcontroller
4. A4-988 stepper drivers
5. GT-2 pulleys
6. Acrylic sheets
7. Lead screws

PRINCIPLE:
The robot controls and position are controlled using the
forward and inverse kinematics and the robot can cover the full
cartesian plane in x,y,z axis.
Hence, by changing the end effector the robot can be modified
as a pick and place machine, a laser engraver or a 3d printer.

WORKING:
The robot basically has 4 degrees of freedom and it is driven
by four NEMA-17 stepper motors, additionally it consists of a
servo motor for the end effector.
The brain of the scara robot is an ATMEGA-328p
microcontroller paired with a four A4988 stepper drivers for
controlling the motors.
To control the robot a graphic user interface is designed in the
processing development IDE which consists of both forward and
inverse kinematics control.
With forward kinematics we will manually set the angles for
each joint to get the desired position.
With the inverse kinematics we will set the position, and the
joint angles are automatically decided.
So, setting the desired task for the robot we can save the task
to do the same task repeatedly.
Since the robot has four degrees of freedom so it can move
across cartesian plane in x,y,z axis.

Project estimation:
1. NEMA-17 stepper motors - 2000/-
2. MG-99R servo motors - 300/-
3. ATMEGA-328P microcontroller - 510/-
4. A4-988 stepper drivers - 400/-
5. GT-2 pulleys - 1500/-
6. Lead screws - 500/-

Batch members:
1. D.Hari kamalakar reddy 4. R.Uday kiran
2. J.Venkatesh 5. K.Shyam kumar
3. B.Nanda kishore 6. Gautham

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