Design and Construction of the Mechanical Structure of an SCARA Type Arm for Didactic Use

Abstract

Robotics is one of the branches of engineering that will play a very important role in the Industry 4.0 scheme. One way for Higher Education Institutions to have robotic devices without incurring high costs is through self-equipment. This paper presents the design and construction of the mechanical structure of a robotic arm type SCARA for teaching applications. The prototype has 3 degrees of freedom and a maximum operating radius of 35 cm. Using a suction cup, it is possible to move objects with a maximum weight of 200 grams. Arm movements are performed by stepper motors. Each degree of freedom has associated limit switches that will serve to limit the movements of the robotic arm when controlling its operation. Preliminary tests of operation show that the movements of the system are correct and are within the established values for the equipment.