Evezor Robotic Arm

Evezor is an open source SCARA class robotic manufacturing platform.

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Evezor is my SCARA class robotic arm.

We've already used it to 3D print, robotic bartender, laser engrave, laser cut, weld, plasma cut, PCB mill, PCB pick and place assembly, glass etching, 2.5D milling, 3D contour milling, pen plotting and more. It has a 800mm work envelope and can lift over 3Kg(6lb).

When I looked to find a machine that could not only complete a task one day, but could be retooled for something new the next week. I've built many 3D printers, lathes and other machines so I knew most of the tried (cartesian, corexy, delta) designs wouldn't give me what I wanted. The SCARA class machines seemed like they could fit the bill and I think I was right.

Having used many machines, from hobby built 3d printers, to mini mills and lathes and large CNC machining centers I had a good feel for the performance I was looking for. I wasn't looking to try and build the cheapest machine out there, but I was out to build a highly reliable and accurate machine for the least cost possible. Fortunate enough to have the right tools I opted for all steel construction with a welded frame.

While the machine worked quite well, I was left wanting. As created it could only complete a single task. In addition I wasn't very pleased with the reach, payload, resolution and ease of programming achieved by the lite arm.

We have also released the full Source Files

Mass Production of 200 Coasters

project log:

This is one of my favorite drawings we did in our TSP Art series

project log:

TGIF, I sure could use a drink. How about an ice cold beer

Here it is doing some motion tests

Source files coming soon in future updates as I get them in sharable order. You can see an assortment of projects we've created here. In spelling order 2.5D milling, 3D Contour milling, Welding, 3D Printing, Hot Wire Foam Cutting, Pen Plotting, Glass Etching, Laser Engraving, PCB Milling and PCB Assembly and Plasma Cutting.

I attended the Hackaday Unconference in Chicago, it was a lot of fun.

Thank you Mike for sharing the letter our robot wrote for the coordinators. Hackaday post about the unconference

  • 1 × Ramps Motion Board You can use just about any 3d printer board out there. In the current configuration we're driving the arm with forward kinematics anywasy
  • 1 × Raspberry Pi

  • Mass Production Demo

    anfroholic05/20/2017 at 23:11 0 comments

    Let's automate the production of 200 coasters with no human intervention.

    Coasters were cut from a standard sheet of 1/8" birch plywood.

    I set up the table saw fence and cut them all into strips

    I made a small crosscut sled that was set to make squares when aligned with the edge. It made cutting them all very easy.

    All cut. That was a lot more coasters than I expected when I started.

    All edges have been deburred and are ready to be engraved.

    This is the fixture I made for the arm to drop the coasters into to be engraved.

    I drilled holes in the CPU cooler mounts and the piece of polycarbonate I would be using to make this toolhead.

    Measuring the distances for the 4th axis that would later hold the vacuum gripper that will pick and place the coasters.

    All measured and cutting off the pieces that are not needed.

    Doing my first dry fit. I think this will work well.

    Measuring and attaching the 4th axis motor.

    I retrofitted an old pulley I used for a previous project after I

    accidentally broke the smaller pulley you see above and behind. In the

    end it was a good thing, I had to use the other pulley anyway.

    The suction cup is spring loaded to know when it's hit the top of a

    pile. Whenever possible I like to program my robots like a drunk

    walking down a hallway ;)

    Bringing in the Raspberries :)

    This is pretty much the most important part of the Processing script that ran the whole job.

    The arm was running Marlin at this point and I made some special M

    codes that would send strings out the serial port on command. The

    M400() calls finish every move that's in the buffer and the

    SERIAL_PROTOCOLPGM("XXXXX") commands send a string to the Raspberry Pi

    which is running the whole job.

    This was actually the first prototype for the evezor arm. I call them NOtotypes (the minimum viable prototype that will test critical aspects of a part) It failed miserably but I learned what I needed to look for when designing the next iteration.

    Same pieces I just had it on upside down.

    The sled is complete with 608zz ball bearings as wheels.

    I built the track the sled would run down.

    The sled would be actuated with a belt so the mounts had to be fairly strong, so I made a dado joint. Such class ;)

    This is the idler pulley. I looked around the shop for different materials for the belt and it turned out telephone wire performed the best. Who would have thought?

    This is the idler pulley. I looked around the shop for different

    materials for the belt and it turned out telephone wire performed the

    best. Who would have thought?

    Mounted and you can see the RAMPS board that performs the motion control for the slider.

    A shot of the slider all assembled. Sorry I didn't get a good shot of the stepper mount on the far side.

    On to the camera controller. This was a picture I sent to my

    Photographer (Thank you World Touch Productions for all your help!!) to

    make sure I got the right connectors for the shutter controllers.

    Whenever possible I prefer not to cut wires. So I soldered the wires directly to the switches. The top contact is ground, the middle contact is for the auto-focus and the bottom contact is for the shutter.

    I carved out the side so the wires could fit through and I could reattach the tops.

    All wired up to it's own Arduino and a relay board. This is the shutter controller.

    More code for the Arduino controlling the camera shutters.




    For those curious the toolpaths were created with Inkscape

    We made it! All done!

    200 coasters all piled up.

    200 coasters all piled up.

    Now we're really done!!

    This is a 12"x12"x12" box. This was a lot of coasters! See the video version and full source files for this project at

  • TSP Art

    anfroholic05/11/2017 at 22:22 0 comments

    Here I drew some pictures with a ballpoint pen.

    TSP (Traveling Salesman Problem) Art is created by turning an image into dots, then using a traveling salesman algorithm to connect the dots. Light and dark regions are created by differing point densities.

  • PCB Fab and Assembly

    anfroholic05/09/2017 at 03:41 0 comments

    Here we mill traces and place surface mount LEDs and resistors.

    Traces were milled with a 1mm endmill with a standard 110V rotary tool.

    The components were 0603 and were picked and placed with a vacuum tool powered by compressed air.

  • Laser Engraving

    anfroholic05/08/2017 at 21:28 0 comments

    We got the laser out again and did some engraving.

    The toolpath was created in Inkscape. I could have had Inkscape make a more efficient toolpath but just got rapid movements working and wanted to see how well they were working.

  • Welding

    anfroholic04/11/2017 at 09:46 0 comments

    We will continue with metalworking and give our arm a shot at welding

    This turned out better than I would have imagined! It's a better welder than I am.

    Welder was a standard 110V handheld welder with flux wire.

    See more details at this project's page

    Welded E

  • Plasma Cutting

    anfroholic04/07/2017 at 11:22 0 comments

    Today we plasma cut the letter E out of sheet metal.

    The toolehead is a standard handheld plasma cutter. I used a small solenoid for the trigger mechanism.

    The material is 12ga mild steel.

    The toolpath was created in inkscape


    See our blog post on this job at

  • 3D Contour MIlling

    anfroholic04/06/2017 at 23:08 0 comments

    Today we Milled the letter P from our Open Source letter series we've been doing

    Our toolhead today is a full size 2hp router with a 1/4" ballmill.

    The stock material was a piece of brazillian cherry.

    The toolpath was created with Kiri:Moto. With all these projects, for better or worse, I tried my best to use open source software. I would have made a tutorial on this if I didn’t have such a bad experience using the software. It’s not the worst software ever but made some unusual decisions with some of its toolpaths. I will be looking for some better software, if you have some suggestions please leave a comment.

  • 2.5D Milling

    anfroholic03/29/2017 at 10:42 0 comments

    Today we milled the Open Source Initiative's Logo

    Our toolhead today is a full size 2hp router with a 3/8″ 2 flute bit.

    The stock material is a laminated piece of brazillian cherry between two pieces of pine.

    The toolpath was created with Kiri:Moto. With all these projects, for better or worse, I tried my best to use open source software. I would have made a tutorial on this if I didn’t have such a bad experience using the software. It’s not the worst software ever but made some unusual decisions with some of its toolpaths. I will be looking for some better software, if you have some suggestions please leave a comment.

  • Laser Cutting and Inkscape Tutorial

    anfroholic03/27/2017 at 07:13 0 comments

    Today we lasercut the letter E into some cardstock

    We used Inkscape to create the gcode for this letter.

    We also created a tutorial so you can learn to make patters of your own. See it here.

    Our toolhead here was just a little diode laser we source online that we put into a CPU heatsink and clamped to our arm.

  • Glass Etching

    anfroholic03/22/2017 at 20:07 0 comments

    Today we etched the letter U into glass

    Our tool post, once again, was just a hunk of 2X4. Then we used a hose clamp to secure the rotary tool to the tool post.

    We used a diamond bit to do the glass etching and some lightly soapy water as coolant.

    The toolpath and design was created in Inkscape.

View all 13 project logs

Enjoy this project?



malvasio.christophe wrote 08/31/2017 at 07:38 point


is your scara use a rpicam and opencv ?

rpi2/3 ?

pick &place is nice but can it solder electronic too ?

i' m too much handicapped to use normal tools but i have lot of projects

so is your scara able to fully replicate itself for example ?

i have an arm project (mounted on a chassis with wheels to gain precision + reach) i absolutely need

  Are you sure? yes | no

Oskar Weigl wrote 06/02/2017 at 03:16 point

Interested in a collaboration to mix in high power servo drives?

  Are you sure? yes | no

GrayPillow wrote 06/02/2017 at 03:25 point

I think it's a goode Idea!

  Are you sure? yes | no

anfroholic wrote 06/24/2017 at 08:07 point

Yes definitely!  For the time being we're basing most of our hardware around the smoothieboard which has stepper drives standard,  we have our eyes on moving in that direction for our next rev.  Thanks!

  Are you sure? yes | no

Oskar Weigl wrote 06/24/2017 at 17:08 point

Have a look at the Juicyboard. It is based on the Smoothieboard, and supports many kinds of drive systems. ODrive will be included too.

  Are you sure? yes | no

anfroholic wrote 06/25/2017 at 10:35 point

It's not letting me reply to your comment below so I will write it here.  "will be" makes it unfit for use at the moment.  I cannot use something unproven just yet.  Thanks for the heads up, that looks like a cool board and I will be keen on following its and your developement.

  Are you sure? yes | no

GrayPillow wrote 05/31/2017 at 03:41 point

Nice project, I have a plan to build a scara robot arm based on yours , and apply my control system

  Are you sure? yes | no

anfroholic wrote 06/24/2017 at 07:57 point

Cool! Nice drives!

  Are you sure? yes | no

toms wrote 05/30/2017 at 07:07 point

Hi! amazing project! As someone who was part of starting a hackerspace  I admire your commitment to all aspects of the project, implementing various applications, and general forward thinking. As someone who is interested in building robot arms, I am interested in the motor control aspects of the robot. I plan to use magnetic encoders. I noticed them in all the videos but they are barely mentioned elsewhere. Most 3D printers use stepper motors without encoder, and digging through the GitHub repo I could not find how these come into play. I see videos of you teaching the robot (impossible without encoders) - I assume this is all done with Processing code that runs on the Raspi? in conclusion I would really suggest adding a system diagram - what connects to what and how. the only place I found something similar was on the Kickstarter page for your project. Hopefully I can build on some of your work and share the results.

  Are you sure? yes | no

anfroholic wrote 06/24/2017 at 08:01 point

Thank you. At the moment the arm is driven primarily open loop. The encoders were only used directly in the collaboration demo.  I have taken off the encoders for the moment due to people telling me they're too ugly...  they will be coming back on board in the next rev along with full support as we have decided to opt with smoothieboard for the time being.

  Are you sure? yes | no

kaoda wrote 05/04/2017 at 06:57 point

Perfect work! 

just one question - what if steppers used are geared ones? Like 5,18:1, NEMA 17?
Are this will be enough for same movement clearance and power ratio?

  Are you sure? yes | no

anfroholic wrote 05/08/2017 at 20:43 point

Thank you! You run into speed vs. power compromises. A geared NEMA 17 would be slower than a straight NEMA 23.  Also depending on how you have things geared you may end up with undesirable backlash with a gearbox.

  Are you sure? yes | no

kaoda wrote 05/09/2017 at 12:14 point

You are totally right my friend! Great job!

  Are you sure? yes | no

Morning.Star wrote 03/25/2017 at 10:18 point

Lol I was going to ask what the banana was for but I made it down here anyway :-)

Really nice piece of heavy metal you have there, beautiful build. You must have a sweet workshop to be able to machine those parts...

  Are you sure? yes | no

anfroholic wrote 03/25/2017 at 23:54 point

I am very fortunate, yes.  Thank you for the kind comments.

  Are you sure? yes | no

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