Lil' Red- 4 Axis SCARA Robot Arm Build. Open Source- Arduino/GRBL/3040 CNC/3D Printed

Introduction

This tutorial provides a comprehensive guide on building a 4-axis SCARA robot arm using Arduino and GRBL. Fabricated on a 3040 CNC machine and a 3D printer, this project emphasizes open-source technology and standard G-code control. Whether you're a robotics enthusiast or looking to expand your skills in CNC fabrication and programming, this guide will walk you through each step of the process.

Step 1: Design the Robot Arm

• Start by downloading the CAD files from the provided GitHub repository for the SCARA robot arm.
• Use CAD software to visualize and modify the designs as needed for your specific requirements.

Key components of the design include

• Base
• Arms
• Joints
• Mounting points for the stepper motors

Step 2: CNC Fabrication

Set up your 3040 CNC machine

• Ensure it is calibrated and functioning correctly.
• Load the appropriate G-code files for cutting each part of the arm.

Fabricate the components

• Cut out the parts from your chosen material (e.g., acrylic, wood).
• Sand the edges for a smooth finish.
• Verify all parts fit together properly before proceeding to assembly.

Step 3: 3D Printing Components

• Identify the parts that will be 3D printed from the CAD files.

Prepare your 3D printer

• Ensure the printer is calibrated and has the right filament loaded.

Print the necessary components

• Focus on joints and any other complex shapes not easily fabricated with the CNC.
• Clean and assemble the printed parts, ensuring they fit with the CNC-fabricated components.

Step 4: Assembly of the Robot Arm

Start assembling the robot arm

• Attach the joints to the arms using screws or appropriate fasteners.
• Connect the arms to the base securely.
• Install the stepper motors at the designated mounting points.
• Ensure all parts move freely and are aligned correctly.

Step 5: Software Overview

Download and install the necessary libraries from the following links

• GCode Library: G-Code Arduino Library
• Stepper Library: StepperDriver

Upload the GRBL firmware to your Arduino

• Connect the Arduino to your computer via USB.
• Use the Arduino IDE to upload the GRBL firmware.
• Configure GRBL settings according to your robot arm's specifications.

Step 6: Testing the Robot Arm

• Connect the Arduino to your computer and open a G-code sender software.
• Send basic G-code commands to test each joint and movement of the robot arm.

Troubleshoot any issues with movement or connectivity

• Check wiring and connections.
• Verify GRBL settings.

Conclusion

By following these steps, you will successfully build and program a 4-axis SCARA robot arm. This project not only enhances your technical skills in robotics and programming but also offers a foundation for further experimentation with robotic applications. Explore different G-code commands to maximize your robot's capabilities, and consider integrating additional sensors or tools for more advanced functionalities. Happy building!