SCARA Robot Control System

A comprehensive control system for a 4-axis SCARA robot, integrating an Express.js backend API, Next.js frontend, and Arduino Mega firmware for precise motion control.

Demo Video

demo.mp4

🚀 Project Overview

This project enables remote control and automation of a SCARA robot, incorporating:

• 4 NEMA 17 Stepper Motors (Base rotation, Shoulder, Elbow, Z-axis)
• Electromagnetic End Effector (Magnet-based gripping mechanism)
• Web-based Control Interface (Next.js, TypeScript, Shadcn, TailwindCSS)
• Backend API for Communication (Express.js, TypeScript)
• Arduino Firmware for Hardware Control (Arduino Mega)
• Custom 3D Printed Parts for structure and motion control

📜 System Architecture

graph TD;
    A["Next.js Frontend"]-->|HTTP Requests|B["Node.js Backend"];
    B-->|Serial Communication|C["Arduino Mega"];
    C-->|Control Signals|D["Stepper Motors"];
    C-->|Control Signal|E["Magnet End Effector"];
    B-->|Status Updates|A;
    C-->|Status Updates|B;

Loading

🔩 Hardware Components

Component	Details
Microcontroller	Arduino Mega 2560
Motors	4 x NEMA 17 Stepper Motors
Motor Drivers	A4988 Stepper Motor Driver
End Effector	Electromagnetic Gripper
Power Supply	12V DC for motors, 5V for electronics
Belts & Pulleys	GT2 Timing Belt (200mm, 300mm, 400mm)
Frame & Links	Custom 3D Printed PLA Components

🖥️ Software Components

1️⃣ Arduino Firmware (arduino_scara.ino)

• Utilizes AccelStepper library for precise motor control
• Processes serial commands for movement and magnet control
• Implements safety features and position tracking

2️⃣ Express.js Backend API

• Manages serial communication with the Arduino
• Provides a RESTful API for robot control
• Handles port management and command processing

3️⃣ Next.js Frontend

• Web-based control panel with real-time robot status
• Interactive UI for manual and automated control
• Responsive design for both desktop and mobile

⚙️ Installation and Setup

🔹 1. Clone the Repository

git clone https://github.com/ayuugoyal/scara.git
cd scara

🔹 2. Arduino Setup

1. Install the Arduino IDE
2. Install the AccelStepper library via the Library Manager
3. Connect the Arduino Mega to your computer
4. Upload arduino_scara.ino to the Arduino

🔹 3. Hardware Connections

Stepper Motors to Motor Drivers:

Axis	STEP Pin	DIR Pin	ENABLE Pin
Base Rotation	2	3	4
Shoulder	5	6	7
Elbow	8	9	10
Z-Axis	11	12	13

• Magnet Connection → Pin 53
• Power Supply → 12V for motors, 5V for logic circuits

🔹 4. Backend Setup

cd backend
pnpm install
pnpm run dev  # Development mode
pnpm start    # Production mode

• Runs on http://localhost:3001 by default

🔹 5. Frontend Setup

cd frontend
pnpm install
pnpm run dev

• Access UI at http://localhost:3000

📡 API Documentation

Port Management Endpoints

Method	Endpoint	Description
GET	/api/ports	List available serial ports
POST	/api/connect	Connect to a port ({"port": "/dev/ttyUSB0", "baudRate": 115200})
POST	/api/disconnect	Disconnect the current port
GET	/api/status	Get connection status

Robot Control Endpoints

Method	Endpoint	Description
POST	/api/command	Send a movement command ({"command": "M0 200 1000"})
POST	/api/magnet	Control the magnet ({"state": true} or {"state": false})

Arduino Serial Commands

Command	Description
M{motor_index} {position} {speed}	Move motor to specific position
M,1	Turn on electromagnet
M,0	Turn off electromagnet

📂 Project Structure

scara/
├── arduino_scara/          # Arduino firmware
│   └── arduino_scara.ino   # Main Arduino sketch
├── backend/                # Express.js backend
│   ├── src/
│   │   ├── app.ts          # Main Express application
│   │   ├── controllers/    # API request handlers
│   │   ├── routes/         # API route definitions
│   │   ├── services/       # Serial communication service
│   │   └── types/          # Type definitions
│   └── package.json        # Backend dependencies
├── frontend/               # Next.js frontend
│   ├── app/                # Next.js app directory
│   │   ├── api/            # API routes
│   │   └── page.tsx        # Main page component
│   ├── components/         # UI Components
│   └── package.json        # Frontend dependencies
└── README.md               # Documentation