SK-88 CNC SCARA robot

SK-88 (Sonderkommandor-88) is name designated to a CNC SCARA robot developed as project during Mechatronic Design course.

The goal of the project was to design a fully functional, adaptable prototype of SCARA (Selective Compliance Articulated Robot Arm) conrolled using G-code standard. Robot's dimensions were specified to be 400mm of maximal arm reach, around 300mm of vertical travel and max. tip load equal to 1.5kg. Key feature of the developed project was for it to be as adaptable for different tasks as possible. Those tasks include 3D printing, laser cutting, engraving, pick-and-place manipulation. For the sake of initial designing process, no particular end-effector was created. Instead, a universal tool holder was fitted. Firstly, a complete CAD model was created using Autodesk Inventor software. Then, all necessary calculations regarding dynamics were done and confronted with CAD model. After minor adjustments and verification, a live prototype was created. Simultaneously, control algorithm was being developed. It was decided to use Linux CNC software as means to control the robot. Custom configuration including .ini and .hal files was created. In addition, a special GUI utilizing funcionalities of Linux CNC software was made. Following pages include information regarding development of the project. Certain CAD files can be downloaded for previev.