D.I.Y SINGLE ARM SCARA ROBOT
Introduction: D.I.Y SINGLE ARM SCARA ROBOT
In this tutorial, I'd like to share how to build a homemade Arduino based SCARA Robot. My aim is to easily assemble on my own and learn about the robotic arm by using the simple materials in hand without having to purchase 3D printed parts.
Before getting started, please check my videos below
* First testing with project description.
* Updating the pen lift.
Step 1: Things We Need
1. Main components:
* 1pcs x Arduino Uno R3.
* 1pcs x Arduino CNC Shield V3 GRBL.
* 2pcs x Stepper Motor Driver A4988.
* 2pcs x Stepper motor NEMA 17.
* 1pcs x 50 mm L Stepper Motor Support.
* 1pcs x GT2 6mm Closed Timing Belt 400mm.
* 1pcs x GT2 6mm Closed Timing Belt 200mm.
* 2pcs x GT2 Timing Pulley 20 Teeth.
* 2pcs x GT2 Timing Pulley 60 Teeth.
* 3pcs x 608ZZ Double Metal Seal Bearings 8x22x7mm.
* 2pcs x F608ZZ Ball Flanged Shielded Bearings 8x22x7mm.
* 2pcs x Round Bar Shaft Rod Diameter 8mm, Length 100mm.
* 1pcs x Aluminum Flexible Shaft Coupling, Inner Hole Size: 5mm x 8mm.
* 1pcs x Aluminum Flexible Shaft Coupling, Inner Hole Size: 5mm x 10mm.
* 1pcs x 8mm Linear Rail Shaft Clamping Guide Support.
* 2pcs x XH2.54mm – 4P 20cm Wire Cable Double Connector.
* 1pcs x Clear Acrylic, size A4.
* 4pcs x Empty plastic coil spool. I reuse empty plastic coils that is used to coil the soldering tin wires.
* 1pcs x Power Supply 12/24 VDC
* 1pcs x Power Supply 5 VDC.
* Some small cable ties, cable spiral wrap, bolts and nuts.
2. Tools
* Drilling Machine.
* Hot Glue Gun.
Step 2: Assembly Work
Firstly, I figured out how to arrange the components to form a robotic arm. The robot consists of two arms, named LINKAGE L1 and LINKAGE L2. 1000
The two linkage arms imitates the human arm. One joint acts as a shoulder joint (JOINT 1) and the second acts as an elbow joint (JOINT 2). Arm L1 is coupled to the first shoulder stepper motor, while arm L2 is coupled to the second elbow stepper motor and connected to the elbow, to which the pen (END-EFFECTOR) is connected.
All of the above components are placed on boxes made of acrylic. The box dimension is LxWxH = 165x100x75(mm). After careful measurements, I drilled some holes for mounting shoulder stepper motor and its gear transmission, as well as, some available holes for Arduino Uno plus CNC Shield.
There are many kind of tin wire plastic coils with different center holes diameter such as: 22mm, 21mm, 20mm, 19mm and difference height. In this project, I used 4 plastic coils type as follow:
* 1pcs x plastic coil with center hole diameter 22mm, height 55mm and outer diameter 55mm for shoulder bearings.
* 1pcs x plastic coil with center hole diameter 22mm, height 23mm and outer diameter 55mm for elbow bearings.
* 1pcs x plastic coil with center hole diameter 19mm, height 23mm and outer diameter 55mm for clamping the elbow round bar 8mm.
* 1pcs x plastic coil with center hole diameter 20mm, height 23mm and outer diameter 55mm for clamping the pen.
I inserted 2 bearings into center hole diameter 22mm at top and bottom of plastic coil height 55mm. I used a ball flanged shielded bearings at top of plastic coil hole so that it is tight and strong enough to keep the shoulder gear transmission.
Then this plastic coil was mounted to the robot acrylic base through 4 small holes.
Round bar 8mm x 100mm, GT2 timing pulley 60 teeth and round bar clamping support are connected as picture below.
The stepper motor L support was mounted on the round bar clamping support.
Two acrylic plates were cut with dimension 50x210mm, thickness 5mm to build the robot arms and I drilled some holes on them.
One acrylic arm and shoulder stepper motor were mounted on the L support. 1000