Design, Fabrication and Control of a 3 Degree-of-Freedom SCARA Robot

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Project Title

Project Area of Specialization

Robotics

Project Summary

SCARA robot stands for Selective Compliance Assembly Robot & is a horizontal-jointed articulating type robot.
Generally it has 4 degree-of-freedom but in our project we will make a 3 degree-of-freedom SCARA robot.
It provides a cylindrical work envelope and is best suited for planar tasks.
It can reach almost 360 degrees around itself.

Project Objectives

Forward & Inverse Kinematics solution
Designing the System
Fabrication of System
Control Design & Programming
Testing & Demonstration

Project Implementation Method

Literature Review
Mathematical Modeling
Design & Simulation
Fabrication of System
Interfacing with Motors

Benefits of the Project

Faster & repeatable movement
Best suitable for point to point movements
Circuit fabrication
Pick & place operation
Small scale assembly operations

Technical Details of Final Deliverable

Generally it has 4 degree-of-freedom but in our project we will make a 3 degree-of-freedom SCARA robot.
It provides a cylindrical work envelope and is best suited for planar tasks.
It can reach almost 360 degrees around itself.

Final Deliverable of the Project

Hardware System

Core Industry

Manufacturing

Other Industries

Education

Core Technology

Robotics

Other Technologies

Artificial Intelligence(AI), 3D/4D Printing

Sustainable Development Goals

Quality Education, Industry, Innovation and Infrastructure

Required Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
Nema-17 (Stepper Motor)	Equipment	2	1100	2200
Nema-23 (Stepper Motor)	Equipment	1	900	900
DRV-8825 (Motor Driver)	Equipment	3	240	720
ARM Cortex M3 STM32F103C8T6(Microcontroller)	Equipment	1	1200	1200
ST LINK V2 (Debugger)	Equipment	1	300	300
Power supply	Equipment	1	1500	1500
Electrical components resistros,limit switches etc.	Equipment	1	1000	1000
wires	Equipment	1	450	450
Aluminium	Equipment	1	6000	6000
assembly of parts cutting,welding etc.	Equipment	1	4000	4000
Printing	Miscellaneous	1	1500	1500
Transport	Miscellaneous	1	3500	3500
			Total in (Rs)	23270