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DIY SCARA robot arm on STM

This was my engineering project for my degree. Some diagrams are still in Polish, I need to update them in the future. I managed to asseble this arm and it even worked! Still there is still some improvment to make, like changing step motors. I have some problems with them in the past, because the motors sometimes lost the position. I think It will be beter to use servo motors or encoders.

The project is divided into 3 parts:

  • 3D files that you can print or manufacture in any other way. There are .stl files for printing and .ipt files.
  • Matlab GUI for control and other scripts,
  • Source code for embedded system

Used tools

  • Autodesk Inventor,
  • Solid Works,
  • Ultimeaker Cura,
  • STM32 Cube IDE,
  • STMStudio,
  • Matlab,

Hardware used

  • drivers DRV8825,
  • step motors (some used motors from fax machine :) ),
  • microcontroller STM32F411RE ARM Cortex M4,
  • impulse power supply (I use power supply for led strips, like this),

Electronic connection diagram

Configuration for microcontroller (need to update for english)

Diagram how the microcontroller works (need to update for english)

Diagram how GUI works (need to update for english)

And here is how the GUI looks: