Robot electronics
Collinear SCARA Robot Arm
This is a 3DOF robot arm that I built for my mechatronics class term project. This is a collinear SCARA arm, meaning both of the driven linkages pivot about the same axis. It's Z-axis column runs through the center of the driven linkage pivots, and a slip ring to handle end effector wiring. This allows the linkages (and end effector) to rotate continuously about the z-axis, giving the robot a very large working area. This configuration of SCARA arm is unique (as far as I know) and I built this robot partly as a proof of concept.
The CAD model for this robot arm can be seen to the right. The finished robot ran on a simple state machine, had basic inverse kinematics, and could do standard robot arm tasks (homing, jogging, running path routines).
