Design, Simulation and Implementation of Four Degree of Freedom SCARA Robot

Design, Simulation and Implementation of Four Degree of Freedom SCARA Robot | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Design, Simulation and Implementation of Four Degree of Freedom SCARA Robot Ahmed G. Mahmoud A. Aziz, Amr E. Rafaat, Ayat G. Abo El-Magd, and 1 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7432005/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Robotics has become an integral component of higher education laboratories. However, most commercially available robots are expensive and primarily intended for industrial applications. Cost-effective alternatives are essential to enable students to engage with key concepts such as dynamics, design, sensing, kinematics, and control. This paper presents the design and implementation of a four-degree-of-freedom (DOF) SCARA robot developed for demonstration in research, educational, and exhibition settings. The designed robot supports operations such as pick-and-place and laser plotting. Before a prototype is created, a stress analysis is conducted. Next, the robot's dynamics, direct and inverse kinematics are modeled. Given the great speed, accuracy, and repeatability of the SCARA robot. Moreover, a novel approach in this work that combines it with a laser engraving machine has been suggested. A versatile and adjustable laser engraving system that can engrave 3D drawings on a range of materials, especially wood surfaces, by fusing the SCARA robot with a laser engraving machine is developed. Furthermore, this paper addresses the modeling of an improved structural configuration to enhance the applicability of SCARA robots in small-scale applications, particularly those suited for student experiments and scientific research. Based on the robot’s design, the model is created by analyzing its workspace, creating a schematic diagram and matching Denavit-Hartenberg (DH) characteristics, and building a kinematic model in MATLAB with the related reference frames. The kinematic-model of the SCARA robot is developed using the homogeneous-transformation-method. Then, the forward and inverse kinematics' closed-form solutions are obtained. Physical sciences/Engineering Physical sciences/Materials science Physical sciences/Mathematics and computing SCARA Robot Simulation Drives Implementation Low-Cost Robots Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7432005","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":515551115,"identity":"fcc63cee-7b15-4fdf-bfb3-8fe4643cb9a8","order_by":0,"name":"Ahmed G. Mahmoud A. Aziz","email":"","orcid":"","institution":"Higher Institute of Engineering and Technology","correspondingAuthor":false,"prefix":"","firstName":"Ahmed","middleName":"G. 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However, most commercially available robots are expensive and primarily intended for industrial applications. Cost-effective alternatives are essential to enable students to engage with key concepts such as dynamics, design, sensing, kinematics, and control. This paper presents the design and implementation of a four-degree-of-freedom (DOF) SCARA robot developed for demonstration in research, educational, and exhibition settings. The designed robot supports operations such as pick-and-place and laser plotting. Before a prototype is created, a stress analysis is conducted. Next, the robot's dynamics, direct and inverse kinematics are modeled. Given the great speed, accuracy, and repeatability of the SCARA robot. Moreover, a novel approach in this work that combines it with a laser engraving machine has been suggested. 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