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.
Current results of both FEM and kinetic analyses can be found in the attached directory or under the following link: https://drive.google.com/drive/folders/145ZPlxAuch1MMpJrJMewWvXXUKQsrZbh?usp=sharing
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.