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SCARA robotic arms are widely used assembly robots in many heavy industries around the world. Its arm is rigid in the Z-axis and pliable in the XY-axes, which allowed it to adapt to holes in the XY-axes. This is advantageous for many types of assembly operations, i.e., inserting a round pin in a round hole without binding. In this project, we tried to develop a model of SCARA in order to study the kinematics behind it. The robotic arm was controlled via parallel port of the computer which is currently obsolete. The host side control program was written using Matlab computing language. The gripping algorithm was based on inverse kinematics. There is a plan to renovate this robotic arm into android controlled one.