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SCARA Manipulator Project

SCARA manipulator was created as a part of a master's degree thesis project. The aim of the project was to design and assembly functional prototype for Pick & Place operation. The End-effector of aforementioned robot is a flexible granular gripper that is able to hold irregularly shaped objects.

Project overview:

  • 3D model - Autodesk Inventor

  • 3D printed parts

  • Forward & Inverse Kinematic - Matlab

  • Dynamic simulation - Simulink SimScape

  • Software - modified open-source Marlin software

  • Inexpensive electronics from desktop 3D printers

  • Control board - Arduino Mega

  • Axes actuators: 3 x stepper motors, 1 x servo motor

  • Flexible gripper with pneumatic system

SCARA1.png
Prototype gallery:
Prototype
Gripper
Gripper Pneumatic System
Testing Ground
Pick & Place operation:
SCARA_V1
SCARA_V2

© 2021 by Patryk Parylo.

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