SCARA Robot Design and Development -- 2

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