SCARA Parallel

A parallel SCARA robotic arm designed for graduation project, featuring closed-loop stepper motors, harmonic reducers, carbon fiber rods, 3D-printed joints, and motion control with linear interpolatio

Robot arm
Open source
3D printable

Suggested by Robotheca, created by @Yangtao123droid (opens in a new tab), from github.com/Yangtao123droid/SCARA_Parallel (opens in a new tab). Pinned to commit e250202 (opens in a new tab).

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Hardware license: Apache-2.0 (opens in a new tab)
Software license: Apache-2.0 (opens in a new tab)
Commercial use: Allowed

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (1 script, 1 firmware image)

SCARA Parallel, photo from its repository — Photo:@Yangtao123droid (opens in a new tab)Apache-2.0source file (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

Moves joints with closed-loop stepper motors
Uses harmonic reducers for high-precision positioning
Performs linear interpolation for smooth motion
Controlled by STM32F407 microcontroller

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

1Hardware Selection and Structural Design
2Motor Selection
3Reducer Selection
4Joint Rotary Axis Design
5Rod Selection

The guide appears here as you scroll.

Guide by @Yangtao123droid (README.md), under Apache-2.0. The English translation is by Robotheca, shared under the same license.

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

STM32F407 microcontroller board
Jiemekang 57J1880 closed-loop stepper motors
2HSS57 closed-loop stepper motor drivers
Leaderdrive LSCG series harmonic reducers (17-50, ratio 50)
Flange-mounted bearings for joint rotation axes

Connections

Motor drivers connected to STM32F407 via pulse signals for stepper control
Harmonic reducers mounted on motor shafts with key pins and set screws
Carbon fiber rods used as structural links between joints

Project information

Difficulty: Advanced
Estimated cost: Not stated
Buildability: 40/100Incomplete documentation
Parts: –
Tools: 3D printer, soldering iron, wrench set, calipers, screwdriver set

Buildability40/100

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit e250202. It isn't a rating of the robot.

3D and CAD files10/20
39 CAD source files.
Add the parts to print (STL or 3MF files).
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software10/15
Code in this repository, instructions to install or run it.
Say which software framework it uses (ROS 2, LeRobot, Arduino…).
Documentation10/15
README of 797 characters with 5 pictures; 5 build steps.
Write a README of at least 1,500 characters: what the robot does and how to build it.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses10/10
Hardware: Apache-2.0; software: Apache-2.0.

Software

Framework: Not stated
Languages: C, MATLAB / Objective-C, Assembly
License: Apache-2.0

The code

How to run it

Written by Robotheca from the project's documents.

Flash STM32F407 firmware with provided motion control code
Upload interpolation code to the controller
Run MATLAB simulation for kinematic validation (optional)

Robotheca doesn't review code. Read it before running it.

Project files

Every file of the project: code, CAD, electronics, guides, at commit e250202.

Community

Questions and improvements go to the creator's repository.

Photo