SCARA Robot Design and Development -- 2

About the project

Design & Development of 3-Axis SCARA Robot – Mechanical, Electronics, Firmware & ROS2 Software Project Description We are looking for an experienced Robotics/Mechatronics Engineer or Robotics Development Team to design and develop a 3-axis SCARA robot based on the performance and functionality of an existing commercial SCARA robot such as the Oriental Motor OVR series. The goal is to develop an independently engineered robot design, including mechanical design, electronics, firmware, control software and ROS2 integration. The final design should be suitable for prototyping and future commercial development. Important: We are looking for an original/independently engineered design, not a direct copy of any manufacturer's proprietary CAD, drawings, firmware or software. Target Specifications 3-axis SCARA robot Approx. 400–450 mm working reach Approx. 3 kg payload 2 rotary joints + Z axis High repeatability target: approximately ±0.03–0.05 mm 24/48 VDC operation Closed-loop motors with encoders Industrial-quality mechanical construction Modular and serviceable design Scope of Work 1. Mechanical Design Complete 3D CAD model Base, arms, joints and Z-axis mechanism Motor and reducer selection Bearings, shafts and couplings Cable management End-effector mounting Manufacturing drawings Assembly drawings GD&T and tolerances Complete BOM Design suitable for CNC/aluminium manufacturing 2. Electronics Motor/actuator architecture Motor drivers Encoder interface Main controller PCB Power distribution Limit/home switches Emergency-stop and safety I/O Communication interface such as CAN/CAN-FD or EtherCAT Schematics, PCB files and BOM 3. Firmware & Motion Control Develop complete firmware for the robot controller, including: Motor control Encoder feedback Homing Position control Velocity control Trajectory generation PTP motion Linear interpolation Circular interpolation Acceleration/deceleration control Joint limits Fault detection Emergency stop Communication protocol Calibration 4. Robot Software Develop software for: Forward kinematics Inverse kinematics Joint-space trajectory planning Cartesian motion Robot calibration Position teaching Jogging Program execution Diagnostics 5. ROS2 Integration The robot should be compatible with ROS2, preferably ROS2 Jazzy. Required: URDF/Xacro ros2_control Hardware interface MoveIt 2 RViz Simulation environment Joint trajectory controller Python/C++ API Example ROS2 nodes 6. Robot Control GUI Develop a basic "Robot Studio"-type application allowing the user to: Jog individual joints Jog in XYZ Set speed Teach positions Save/load programs Execute programs View robot status Control digital I/O Home the robot View errors/diagnostics Visualize the robot in 3D Required Deliverables The freelancer must provide all source files, not only compiled/output files: Complete CAD files STEP files Native CAD files Manufacturing drawings BOM PCB schematic PCB layout/source files Firmware source code Controller software source code ROS2 packages MoveIt configuration URDF/Xacro GUI source code Communication protocol documentation Electrical drawings Assembly instructions Calibration procedure Testing procedure Full technical documentation

Skills required