CHAPTER ONE

INTRODUCTION
In today's business industry, industrial automation is a critical factor in the growth and success of
many companies. Automation involves using technology to replace human labor with machines,
not only for performing physical tasks but also for decision-making. One of the significant
benefits of automation is that robots can operate with greater efficiency than humans, resulting in
higher productivity and precision. Robotic manipulators, also known as robotic arms, are the
machines that replace human arms. They are composed of a set of rigid bodies connected by
mechanical joints that form a kinematic chain, allowing for a certain degree of articulation.
There are many possible configurations for the kinematic chain, each representing a different
type of manipulator, including cartesian, cylindrical, spherical, SCARA, and anthropomorphic.
The manipulator is equipped with a mechanical wrist that allows for the attachment of terminal
devices, which are used to manipulate objects or perform operations on workpieces. Terminal
devices can be divided into two categories: robotics tools and robotic grippers.
Robotics tools are designed for specific functions such as soldering, spray painting, milling, and
drilling, while robotic grippers are used to grasp objects and allow movement, processing, or
assembly operations. There are four types of robotic grippers: electrical/servo, pneumatic,
suction cups, and magnetic, each with their own advantages and disadvantages regarding cost
and efficiency.

1.1 Background
Robotic arms are machines that are programmed to execute a specific task or job quickly,
efficiently, and extremely accurately. Generally, motor-driven, they’re most often used for the
rapid, consistent performance of heavy and/or highly repetitive procedures over extended periods
of time, and are especially valued in the industrial production, manufacturing, machining and
assembly sectors.
A typical industrial robot arm includes a series of joints, articulations and manipulators that work
together to closely resemble the motion and functionality of a human arm (at least from a purely
mechanical perspective). A programmable robotic arm can be a complete machine in and of
itself, or it can function as an individual robot part of a larger and more complex piece of
equipment.
A great many smaller robotic arms used in countless industries and workplace applications today
are benchtop-mounted and controlled electronically. Larger versions might be floor-mounted, but
either way they tend to be constructed from sturdy and durable metal (often steel or cast iron),
and most will feature between 4-6 articulating joints. Again, from a mechanical perspective, the
key joints on a robotic arm are designed to closely resemble the main parts of its human
equivalent - including the shoulder, elbow, forearm and wrist.
1.2 Problem statement (motivation)
The reason for selecting this project was twofold: firstly, during our intern program, one of us
applied to AMHARA METAL WORKS INDUSTRY and observed that the company faces
difficulties in component assembly and disassembly for maintenance and services due to reasons
such as inadequate availability of components, lack of skilled workers, and outdated
technological equipment. The project focuses on the staking process of the transformer core,
which is currently done manually using simple equipment like a flat head screwdriver. This
process is time-consuming and requires at least two technicians. Automated or semi-automated
robotic machines could perform this task, but they are not used due to their cost and availability.
The use of manual labor in this process is costly and time-consuming, and it is repeated for each
transformer that comes in for maintenance. The objective of this project is to reduce that time
and manpower required at least by half for this process. Secondly, to create a system that is
highly flexible, accurate, and efficient, while also being easy to program and operate. This
involves balancing trade-offs between factors such as speed, precision, payload capacity, and
cost, as well as addressing issues such as safety and reliability.
Moreover, it has practical applications in the current industry and it provides valuable experience
for a novice engineer. This project necessitated expertise in design, mechanics, electronics, and
programming within the field. Ultimately, the goal is to create a robot that can perform a wide
range of tasks in a variety of industries, and help to improve productivity and efficiency in
manufacturing and other fields.

1.3 Objective
1.3.1 General objective
Design and develop a SCARA robotic arm that perform precise and repeatable movement.

1.3.2 Specific objective

This project will go through the conceptual to detailed design of SCARA robotic arm with
SOLIDWORK based element design as well as prototype. This process includes:
• Modeling the part design and assembly of the robot
• To analysis of part design in SOLIDWORKS
• Analyze kinematics and dynamics of SCARA robotic arm
• Assembling the prototype
• To test and validate the performance of the SCARA robotic arm through experiments.
• To identify any limitations or challenges in the design and propose recommendations
for future improvements.
1.4 Scope of the project
This project includes the design of different components that assemble together to give the
appropriate mechanism for lifting and lowering loads. under this project there will be and
Arduino uno controller to control the movement of the robotic arm.
Apart from the design of each part it also includes two dimensional drawings of each part and a
well as the assembled working product. The design of the parts as well as the assembly will be
done using SOLIDWORKS.

1.5 Limitation of the project

Although the project is highly advantages on the reduction of required human effort and
operating time, it has some limitations. The basic limitation is that, the Arduino uno control
system is not recommended for high-capacity movable systems. Due to this the control system
has to be changed to a more compatible and high-powered controlled system.
CHAPTER TWO
LITERATURE REVIEW
2.1 History and development of SCARA robotic arm
The "Selective Compliance Assembly Robot Arm" variety of industrial robots is commonly used
in manufacturing and assembly processes. A Japanese company named Sankyo Seiki, which later
became Yamaha Robotics, was the first to commercialize the SCARA robot in the early 1980s.
The SCARA robot's primary benefit is its ability to move in a horizontal plane, which makes it
perfect for applications requiring precision part movement and positioning. SCARA robots are
frequently employed in packaging, pick-and-place, assembly, and other tasks in the electronics,
automotive, and medical sectors.
The SCARA robot's design has evolved with time thanks to advancements in hardware, software,
and materials. Currently, SCARA robots come in a variety of shapes and sizes, and their payloads
can range from a few grams to several kilos.
Collaborative SCARA robots, which can assist human operators in assembly and manufacturing
activities, have gained popularity in recent years. These collaborative robots have characteristics
like force sensing and simple programming interfaces that make them safe and simple to use.
In 1978, a revolutionary prototype of the first SCARA robot was built in the Yamanashi University
lab of Professor Hiroshi Makino. At the time of its design, the 4-axis SCARA was the only robot
arm available. Its simplicity was great because it could accomplish more with fast speed and
accuracy with little movement.
The SCARA arm functions fairly similarly to the human arm in that it has joints that allow for
vertical and horizontal movement. However, the SCARA arm's wrist only has a small range of
motion; it can rotate but not tilt. For many different sorts of assembly procedures, including pick-
and-place, assembly, and packaging applications, the wrist's restricted range of motion is helpful.

Fig
SCARA robots, which were first used on industrial assembly lines in 1981, continue to provide
the finest value for money when it comes to high-speed assembly. The SCARA robot-based
Japanese flexible assembly technology sparked a global boom in the production of small
electronics, resulting in goods that fueled the economy and altered the course of history.

2.2 Application of SCARA robot

In manufacturing and industrial situations where accuracy, speed, and consistency are essential,
SCARA robots are frequently utilized. They can do the same motion again with amazing accuracy,
making them excellent for activities that need for a lot of repetition.
SCARA robots are frequently used in assembly. They can be trained to pick up tiny components
and quickly and accurately deposit them where they need to be. They are therefore perfect, for
instance, for assembling electronic parts.
SCARA robots are frequently used in packaging. For high-volume manufacturing processes, in
particular, they are particularly valuable since they can quickly sort and pack goods into containers.
SCARA robots are excellent for handling materials as well. They may be programmed to follow
particular courses and trajectories and are capable of lifting and moving huge things with ease.
They are therefore perfect for distributing materials throughout warehouses or factories.
A crucial application for SCARA robots is quality control and inspection. They may have sensors
and cameras that enable them to spot flaws or irregularities in products. This helps to guarantee
that before things are delivered out, they all meet particular requirements.
SCARA robots can also be utilized for dispensing or spraying tasks, such as coating objects with
coatings, sealants, or adhesives. They are perfect for these kinds of operations since they can
accurately administer precise fluid volumes.
Finally, SCARA robots are even used in 3D printing applications. They can move the print head
with incredible precision and control, allowing for the creation of intricate 3D shapes.
SCARA robots are incredibly flexible machines that may be applied to a variety of industrial and
manufacturing activities. They are a crucial component of many manufacturing operations because
they assist enhance production, decrease labor costs, and improve efficiency.

2.3 Advantage and Disadvantage of SCARA robot

Advantages
➢ Precision is one of SCARA robots' greatest benefits. For many industrial and
manufacturing purposes, they are made to be highly accurate. They can do the same work
repeatedly with astounding consistency thanks to their remarkable precision, which
enhances product quality and lowers waste.
➢ SCARA robots are also made to move very quickly. They can work swiftly and effectively,
increasing output and lowering labor expenses.
 ➢ SCARA robots have a huge range of applications. They are suitable for a variety of tasks,
such as assembling, packaging, material handling, inspection, and others. They are
therefore the perfect option for many enterprises that require a multitasking robot.
➢ Because of their compact shape, SCARA robots are more space-efficient than other kinds
of robots. They are therefore perfect for usage in factories or other manufacturing facilities
with limited space.
➢ Finally, SCARA robots are often more cost-effective than other types of robots. They offer
high precision and speed at a lower cost, which makes them a popular choice for many
businesses.
Disadvantages
➢ One of the biggest disadvantages of SCARA robots is their limited range of motion. They're
designed to move in a specific way, which means they may not be suitable for all
applications that require more complex movements.
➢ The lack of flexibility of SCARA robots is another drawback. They may not be as easily
able to adjust to changes in the production process as other robots because they are made
to execute certain jobs.
➢ SCARA robots can be difficult to maintain and program. They need to be operated and
maintained by qualified specialists, which might raise the overall cost of ownership.
➢ Finally, SCARA robots have a limited payload capacity compared to other types of robots.
They're designed to handle smaller loads, which means they may not be suitable for
applications that require heavy lifting.
Overall, SCARA robots offer many advantages for manufacturing and industrial applications, but
there are also some limitations to consider when choosing whether to use them.

What is collaborative SCARA robot

A collaborative SCARA robot, often referred to as a cobot SCARA robot, is a particular kind of
robot created to cooperate with people in a shared workspace. These robots are made to be safe
and simple to use, and they are frequently employed in packing, assembly, and manufacturing
processes.
Collaborative SCARA robots have sensors and control systems that enable them to recognize
human presence and react appropriately. For instance, the robot might halt or slow down if a person
enters its working area in order to prevent accidents or injuries. This makes it possible for people
and robots to collaborate effectively and safely.
Collaborative SCARA robots are made to be simple to operate and program in addition to having
safety features. Many of these robots have simple, intuitive graphical user interfaces that let
programmers create tasks fast and simply without the need for professional robotics knowledge or
training.
In general, collaborative SCARA robots provide many advantages for industrial and
manufacturing applications, such as higher productivity, improved safety, and more adaptability in
the way things are made.
Traditional industrial robots and collaborative SCARA robots differ in a few key areas. The
greatest distinction is safety. Traditional industrial robots are frequently kept apart from people by
safety barriers or cages, but collaborative SCARA robots are meant to be safe for humans to work
around. Because they have user-friendly interfaces and fewer complicated controls than
conventional industrial robots, collaborative SCARA robots are also simpler to use than those.
Additionally, they are more adaptable and can be used in a larger range of applications. However,
because they can support heavier payloads, conventional industrial robots are preferable for heavy-
duty tasks. Another consideration is price, with collaborative SCARA robots typically costing less
than conventional industrial robots.
Ultimately, the choice between a collaborative SCARA robot and a traditional industrial robot
depends on the specific needs of the application, such as safety requirements, payload capacity,
and the type of work that needs to be done.
CHAPTER THREE
Methodology
3.1 Kinematics
Kinematics is a branch of mechanics that deals with the motion of objects without considering
the forces that cause the motion. In robotics, kinematics refers to the study of the motion of
robots, particularly the relationship between the position, velocity, and acceleration of a robot's
components or joints.
Kinematics is an important aspect of robotics, as it provides the foundation for understanding
how robots move and how their movements can be controlled. Understanding kinematics is
crucial when designing robots, as it enables engineers to analyze joint movement, end-effector
(such as a gripper or suction) trajectory, speed, and the spatial relationship between the robot's
position and orientation. By doing so, engineers can optimize robot movements for specific tasks
and environments, and ensure that robots are able to perform with precision and accuracy.

Number of links alpha a d theta

1 0 0 D1 q1

2 0 A1 0 q2

3 0 A2 0 0

4 0 0 0 0

DH TABLE
Let
• A1 = 240mm
• A2 = 153mm
• D1 = 400mm
• q1 = 450
• q2 = 300

3.1.1 Forward kinematics

Forward kinematics is a method used in robotics to determine the position and orientation of the
end-effector (such as a gripper or tool) based on the values of the joint angles and lengths.
From the transformation matrix we get
X = a2*cos (q1 + q2) + a1*cos(q1) and
Y = a2*sin (q1 + q2) + a1*sin(q1)
Substituting the values
X = 153*cos (450 + 300) + 240*cos (450)
X = 153*(cos (450) *cos (300) – sin (450) *sin (300)) + 240*cos (450) ------------using the trig
identity of cos (a+b)
X =153*(0.707*0.866 – 0.707*0.5) + 240*(0.707)
X = 153*(0.259) + 169.705
X = 39.627 + 169.705
X = 209.332
Y = 153*sin (450 + 300) + 240*sin (450)
Y = 153*(sin (450) *cos (300) + cos (450) *sin (300)) + 240(0.707)
Y = 153 * (0.707*0.866 + 0.707*0.5) + 169.705
Y = 153(0.965) + 169.705
Y = 147.645 + 169.705
Y = 317.35

3.1.2 Inverse kinematics calculation

Inverse kinematics is a technique used in robotics to determine the joint variables required to
achieve a desired end-effector position and orientation. This is important in many applications, as
it allows engineers to translate the desired end-effector motion into motion at the joint level that
enables the robot to execute the desired action. Essentially, inverse kinematics enables the robot
to determine the joint angles required to achieve a specific end-effector pose.
𝑥 2 + 𝑦 2 − 𝑎12 − 𝑎22
𝑞2 = 𝑐𝑜𝑠 −1
2𝑎1 𝑎2
𝑦 𝑎2 𝑠𝑖𝑛𝑞2
𝑞1 = 𝑡𝑎𝑛−1 − 𝑡𝑎𝑛−1
𝑥 𝑎1 + 𝑎2 𝑐𝑜𝑠𝑞2

209.332^2 +317.35^2−240^2−153^2
q2 = cos-1 ( )
2∗240∗153
43,819.8+100,711.022−57,600−23,409
q2 = cos-1 ( )
2∗36,720
63521.822
q2 = cos-1( )
73440
q2 = cos-1(0.864)
q2 = 300
using q2 to find q1
317.35 153∗sin 30
q1 = tan-1 209.332 – tan-1
240+153∗𝑐𝑜𝑠30
76.5
q1 = tan-1 (1.516) - tan-1 372.501

q1 = 56.589- 11.605
q1 = 450

3.2 Design and Modelling (SOLIDWORKS)

3.2.1Components used and Material Selection
The SCARA robotic arm is made up of different component parts.

These parts have their own function in the function of the robot as well as the assembly process.
In this sub-topic we are going to discuss some of the major components like base of the robot, the
couplers, the Arduino uno, CNC shield, power supply and many more.

1. Base
One of the most crucial components of the robotic arm is its base. Because it serves as the
foundation for the robotic arm, it is affected by the weight of all the other components, as well as
the payload. The robotic arm base is equipped with a steeper motor that works with the rotating
shaft.
Manipulator's construction materials. The objective was to use a material that was affordable and
accessible but also light, strong, and long-lasting enough to satisfy the project's needs for the
linkages of the manipulator prototype. The prototype might have been made from a variety of
materials, including steel, aluminum, polylactic acid (PLA), and Acrylonitrile Butadiene Styrene
(ABS). Then ABS "Table 1" was chosen because it was more durable and heat resistant than PLA.
In comparison to aluminum and steel, manufacturing was also simpler, making it a good material
for the manipulator. ABS has the disadvantage of being less rigid than other materials, which is a
disadvantage.
Table 1. Materials Properties of Acrylonitrile Butadiene Styrene
property Value
Density 1040 kg/m3
Tensile 41.4 MPa
Elongation 0.15-100%

2. Couplers
The couplers used in this robotic arm system are used to facilitate the joining of links and
joining the base with the z-axis component of the robotic arm.
3. Robotic links
▪ Arm 1

▪ Arm 2

▪ Arm 1 cover

▪ Arm 2 cover

They use the same type of material as the base of robotic arm which is Acrylonitrile
Butadiene Styrene(ABS).
4. Bearing:
A bearing is a component of a machine that limits relative motion to only that motion that
is intended and lessens friction between moving elements. The bearing's design may, for
instance, permit free rotation around a fixed axis or free linear movement of the moving
part. It may also serve to prohibit motion by managing the vectors of normal forces acting
on the moving parts.

▪ Linear bearing: A linear-motion bearing or linear slide is a bearing designed to provide

free motion in one direction. There are many different types of linear motion bearings.
Motorized linear slides such as machine slides, X-Y tables, roller tables and some
dovetail slides are bearings moved by drive mechanisms.

▪ Ball bearing
• Thrust ball bearing: SKF thrust ball bearings are manufactured as single direction
or double direction thrust ball bearings. They are designed to accommodate axial
loads only and must not be subjected to any radial load.
 • Radial ball bearing: In order to reduce friction, radial ball bearings transport loads
radially around their axis. They are a subclass of ball bearings that work by
sandwiching two grooved rings with lubricated steel balls. Conrad bearings or
deep-groove bearings are common names for them.

5. Bolt, nut and washer

▪ M8 * 45mm bolt

▪ M4 * 60mm bolt

▪ M4 * 50mm bolt
 ▪ M8 washer

▪ M8 locknut

▪ M4 lock nut

6. Plastic tube
A plastic tube is a hollow, cylindrical cylinder composed of plastic. It is frequently utilized for a
variety of purposes, such as fluid transmission, transportation, and packaging. Depending on the
particular need, plastic tubes are available in a variety of diameters, forms, and materials.
 7. Belt and pulley
A belt is a loop of flexible material used to link two or more rotating shafts mechanically, most
often parallel. Belts may be used as a source of motion, to transmit power efficiently or to track
relative movement.

A gear wheel is a toothed wheel that connects to another toothed mechanism to modify the
transmission of motion's speed or direction.
They are utilized for the transmission of force, changing of torque (turning force), direction, and
speed.
 8. Smooth rod
A smooth rod is a metal rod usually used on the axis for components such as the X-carriage
or print bed of a RepRap to slide on. The most commonly used diameter is 8 mm, but 10
mm and 12 mm are seen in more rigid designs as well.

9. Threaded rod
A threaded rod, commonly referred to as a stud, is a long rod that has threaded ends and may even
have thread running the entire length of the rod. They are made to be used under pressure.
Threaded rod is frequently used to make a link between two materials, such as concrete and another
object or two objects made of metal or wood.
3.3 Electrical Systems (control system)
3.3.1 Microcontroller
A microcontroller is a computer. All computers share a number of characteristics, whether we're
talking about a small microcontroller, a massive mainframe computer, or a personal desktop
computer:
• Programmes are executed by the central processor unit (CPU) in every computer. If you
are viewing this article while sat at a desktop computer, a programme that implements the
Web browser that is displaying this page is presently executing on that device's CPU.
• The programme is loaded by the CPU from somewhere. The browser programme is loaded
from the hard drive on your desktop computer.
• The computer contains input and output devices so it can communicate with people, as well
as RAM (random-access memory) where it can store "variables."
• The monitor and printer are output devices on a desktop computer, whereas the keyboard
and mouse are input devices. An I/O device, such as a hard drive, manages both input and
output.
You are currently using a desktop computer, which is a "general purpose computer" that can
execute any of countless programmes. It is true that microcontrollers are "special purpose
computers." Microcontrollers excel at just one thing. Microcontrollers are characterised by a
variety of additional traits. A computer can be referred to as a "microcontroller" if it possesses
the majority of these features:
• In order to control the functions or actions of another device (often a consumer good),
microcontrollers are "embedded" into that device. Consequently, "embedded controller" is
another name for a microcontroller.
• Microcontrollers only perform one function and execute a single programme. The
programme is typically not changed and is kept in read-only memory (ROM).
• Microcontrollers are frequently low-power electronics. A desktop computer may use up to
50 watts of electricity and is often hooked into a wall socket. 50 milliwatts may be used by
a microcontroller that runs on batteries.
• •A microcontroller has an exclusive input device and typically, though not always, contains
a tiny LED or LCD display for output. A microcontroller not only sends signals to various
parts of the device it is managing, but also receives input from the device it is controlling.
As an illustration, the microcontroller in a television receives input from the remote control
and outputs it on the screen. The controller regulates the sound system, the channel selector,
and a few picture tube electrical settings like tint and brightness. A car's engine controller
receives data from sensors like oxygen and knock sensors and uses that data to regulate
factors like fuel mix and spark plug timing. A microwave oven controller operates a relay
that turns the microwave generator on and off while accepting input from a keypad and
displaying output on an LCD display.
 • A microcontroller is often small and low cost. The components are chosen to minimize size
and to be as inexpensive as possible.

3.3.2 Arduino Uno

Arduino is a tool for building computers that are more capable than a desktop computer of
sensing and controlling the physical world. It consists of a development environment for building
software for the board's basic microcontroller and is an open-source physical computing
platform.
Additionally, Arduino makes working with microcontrollers easier, but it has several advantages
over alternative platforms for educators, students, and interested amateurs:
• Inexpensive - Compared to other microcontroller systems, Arduino boards are reasonably
priced. Even the pre-assembled Arduino modules cost a maximum of 1500 birr and the
cheapest Arduino module may be put together by hand.
• Cross-platform - Linux, Mac OS X, and Windows are all supported by the Arduino
software. The majority of microcontroller systems are limited to Windows.
• Simple, clear programming environment - Beginners may utilize the Arduino
programming environment with ease, and advanced users can benefit from its flexibility as
well. It's conveniently based on the Processing programming environment for teachers, so
students learning to program in that environment will be accustomed to Arduino's
appearance and feel.
• Open source and extensible software- The Arduino software is published as open-source
tools, available for extension by experienced programmers. The language can be expanded
through C++ libraries, and people wanting to understand the technical details can make the
leap from Arduino to the AVR C programming language on which it's based. Similarly, you
can add AVR-C code directly into your Arduino programs if you want to.
• Open source and extensible hardware - Atmel’s ATMEGA8 and ATMEGA168
microcontrollers are the basis of the Arduino. The modules' blueprints are made available
under a Creative Commons license, allowing skilled circuit designers to create their own
version of the module while modifying and extending it. The breadboard version of the
module can be constructed by even relatively inexperienced users in order to comprehend
its operation and save money.
As a whole, to manage the various electric signals involved in the experiments, an Arduino board
was used. The selection of this board was based on the need for a compact and user-friendly
system, particularly for inexperienced users. For this reason, we decided to use Arduino for our
"SCARA robot" project.

3.3.3 CNC shield

A firmware for Arduino boards (UNO, NANO, Duemilanove) called GRBL Shield employs G-
codes as input and output signals via the Arduino pins to operate stepper motors, spindles, and
lasers. The parallel port controller used by the majority of industrial CNC machines calls for those
large purple connectors. You can stream G-code commands with GRBL many software, which is
run on ATmega328-based microcontrollers present on most Arduino boards.
Applications like candle, Master CAM, and the personal use edition of Fusion 360 are free to use
in conjunction with GRBL.

3.3.4 Power supply

An electrical device known as a power supply provides electricity to an electrical load. A power
supply's primary function is to transform electrical current from a source into the proper voltage,
current, and frequency needed to drive a load.
The main purpose of power supply is to change voltage. Regardless of the kind of device that
needs to use it, the power source has a constant output. Power supply adjust the voltage to match
the needs of the device in order to prevent overload, or vice versa.
 3.3.5 Limit switch
A limit switch is a switch used in electrical engineering that is activated by the motion of a machine
component or the presence of an object. A limit switch can be used as a safety interlock, to operate
machinery as part of a control system, or as a counter to count things that pass a point.
Limit switches are a typical form of sensor used in robotics to find out whether an object is present
or absent as well as to locate a robotic arm or other moving parts. Frequently, it serves as a safety
measure to guard against harm to the robot or its surroundings.

3.3.6 DRV Motor driver

A DRV motor driver is a type of electrical component used to regulate the torque, speed, and
direction of a motor. It is frequently utilized in a variety of applications, including CNC machines,
robotics, and automation.
A drive with great performance and low cost is the DRV-1 Step motor drive. The concept, which
boasts great torque, minimal noise, and minimal vibration, is based on cutting-edge digital current
control technology.
 3.3.7 Stepper Motor
An electric motor is an electrical machine that converts electrical energy into mechanical energy.
Most electric motors operate through the interaction between the motor's magnetic field and
electric current in a wire winding to generate force in the form of torque applied on the motor's
shaft. The motor used in this project is a stepper motor namely NEMA 23.
NEMA 23 is a stepper motor with a 2.3×2.3 inch (58.4×58.5 mm) faceplate and 1.8° step angle
(200 steps/revolution). Each phase draws 2.8 A at 3.2 V, allowing for a holding torque of 19 kg-
cm. NEMA 23 Stepper motor is generally used in Printers, CNC machine, Linear actuators and
hard drives.

• NEMA 23 Stepper Motor Specifications

• Voltage Rating: 3.2V
• Current Rating: 2.8A
• Holding Torque: 270 oz. in
• Step Angle: 1.8 deg.
• Steps Per Revolution: 200
• No. of Phases: 4
• Motor Length: 3.1 inches
• No. of Leads: 4
• Inductance Per Phase: 3.6mH
3.3.8 Suction cup configuration
Using a vacuum gripper end of arm tooling helps when stacking items on pallets or moving parts
to different machines. The vacuum gripper cups are soft and gentle enough to prevent any damage.
The robot arm is able to accommodate the pressure based on the needs of the system.
• 1 x Set of Silicone Suction Cup (Dual)
• 2 x PWM Electronic Switches
• 1 x Vacuum Pump
• 1 x 800mm Silicone Hose
• 1 x Tee-Joint Electronic Valve (also known as Solenoid Valve)
3.4 Electric Circuit Diagram for the SCARA Robot
We will use an Arduino UNO board in combination with a CNC shield, four limiting switches
and three A4988 stepper drives.