AGH Mechatronics SCARA 2020

Summer semester assignment for 2nd year of mechatronics engineering AGH

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This is a complete publication for AGH Basics of Mechatronics class for summer semester 2020. The goal of this class to develop in groups robots using official LEGO Mindstorms & LEGO Technic componetnts in Autodesk Fusion 360. Our team chose to develop a SCARA robot that consists of an arm with 3 dimensional capability of motion.

Our design goals:

We designed SCARA robot with an intention of creating a fully functional mechanism, that is capable of functioning in all dimensions. We wanted to keep the design simple so that our end product wouldn't be unnecessarily complecated, what would hinder its functionality.


We settled on a modular approach, dividing the entire device into multiple parts each with a single functionality to fulfill. We decided to settle on the following components:

  • Base - Split into two parts, holds the power supply and a motor that allows the arm to rotate in horizontal axis.
  • Arm - Built using two links, again, each as a separate part. 
    • First link - Connects the arm to the base and holds a motor that allows the arm to extend.
    • Second link - Connected to the first link holds a moror that handles vertical movement of the pen.

Each part was designed to be simple, but also stable enough to serve its purpose without any difficulties. This publication contains files for all the components and their assembly below. Technical drawings, containing details and lists of LEGO parts necessary to assemble the robot can also be found below. 


To create this project we used LEGO Mindstorms and Lego Technic parts, detailed list of all parts used can be found below.

FEM Analysis

Current results of both FEM and kinetic analyses can be found in the attached directory or under the following link:


Animation that presents the operation of our solution can be found under the following link:

The document describing our entire project can be found among the attached files.

IMPORTANT NOTICE: This section of publication will be continuously updated as more progress is made in our project.


Document describing our entire project.

Adobe Portable Document Format - 1.73 MB - 08/02/2020 at 11:47


Sub_link2 v13.f3z

Second link of the robot's arm.

f3z - 7.46 MB - 08/02/2020 at 11:40


Sub_Link1 v12.f3z

First link of the robot's arm.

f3z - 7.56 MB - 08/02/2020 at 11:39


Sub_BaseExtension v5 v2.f3z

Part of robot's base that houses the power supply.

f3z - 3.38 MB - 08/02/2020 at 11:39


Sub_Base v8.f3z

Part of robot's base that houses the arm's first link.

f3z - 6.62 MB - 08/02/2020 at 11:38


View all 8 files

  • 3 × Lego 53787, Electric Motor - NXT
  • 4 × Lego Gear 24 Tooth
  • 2 × Lego Turntable Large Type 2 Assembly w Outside Gear Section
  • 2 × Lego Gear 8 Tooth
  • 5 × Lego 44294 Technic, Axle 7

View all 42 components

  • 1
    1. Using Fusion 360 models and technical drawings as instructions assemble all the components, using specified LEGO parts.
    2. Connect all components as shown on technical drawings.
  • 2
    Power supply

    Connect motors to the power supply and test the assembled robot

View all instructions

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