AUTOMATION OF

DIE CUTTING
MACHINE
4-AXIS SCARA ROBTIC WITH
VACUUM SUCTION
Presented By: Haytham
Ebad-ul-hassan
Supervisor: Dr. Zeeshan Asim
Presented to: Committee of
Electrical Engineering
TABLE OF CONTENTS

SDP-0 Recaps
• Introduction
• Objectives
• Problem Statement
• Scope Of Project
• Why did we choose SCARA ROBOT ?
• Robotic Terminologies
TABLE OF CONTENTS

SDP-1
• Working principal
•Components
• kinematics structure of scara
• 3d modeling software
robot.
• Block diagram
• Arduino programming
• Circuit Diagram
and GUI (graphic user interface)
• Flow chart
• Advantages
• Schematic diagram
• Conclusion
 INTRODUCTION

• 4-Axis SCARA (Selective Compliant Assembly Robot Arm) robots provide a

circular work envelope with a broad range of movement for added flexibility. 
• SCARA robots are based on a 4-axis design with a motion similar to that of a
human arm. The arm is slightly compliant in the X-Y direction but rigid in the
Z direction – thus “selective compliant” in Selective Compliant Assembly
Robot Arm (SCARA).
OBJECTIVE

• To design A multi axis robotic arm. Which easily get synchronized

with die cutting machine.
• To perform the operation of pick and place with a robotic arm.
• Reduce human hands in the production process.
SCOPE OF PROJECT
The biggest advantage is that it can not use for just pick and place it can use in almost any
TYPE OF CNC machines like
• 3d printing.
• laser cutter.
• Engraving for PCB board.

Change the end effector parts then they can use for many purpose.

The SCARA robot helps in achieving better operational efficiency and quality, low
operational cost, high reliability & flexibility, and rapid cycle time, and this is expected to
boost the demand for SCARA robots during the upcoming period.
PROBLEM STATEMENT

• The traditional method of pick and place the material into a die-cutting machine is outdated.
It also involves the human hands, which directly affect the efficiency. In our project, we are
taking one step forward towards the future. We are auto-feeding the die-cutting machine
with the help of the SCARA Robot.
• Basically, we can divide into two major parts:
• End effector
• Control System
WHY DID WE CHOOSE SCARA ROBOT?

• The SCARA robot is most commonly used for pick-and-place or assembly operations where
high speed and high accuracy are required. Generally, a SCARA robot can operate at
• Higher speed.
• Flexibility.
• amazing repetition
• Engineering and Project management.
ROBOTICS TERMINOLOGIES
Link: a grid piece of material connecting joints in the robot.

Joint: the device which allows relative motion between two adjoining link of
a robot.

ROBOTICS MOVEMOENT

Rotationa Revolvin
Vertical Twisting
l g
movemen movemen
movemen movemen
t t
t t
 2nd joint

3rd axis
2nd axis

3rd joint

4th axis

4rd End
Effector

1st axis
1st joint

Figure-01
SPECIFICATION AND PART USED
Characteristics Details

No. of axis 4-axis

Cycle time All movement in approx. 10 sec

Load carrying capacity 800 g

Angle covered 360 degree

Motor Rpm 600

Working boundary Hemispherical

COMPONENTS
Stepper Motor – A4988 Stepper Limit Switch Vacuum Suction 3-way Electronic
NEMA 17 Driver Quantity: 4 Pump Valve
Quantity: 4 Quantity: 4 Quantity: 1 Quantity: 1

Figure-02 Figure-03 Figure-04 Figure-05 Figure-06

Arduino CnC Shield Suction Cup Silicon tube

Arduino Uno DC Power Supply
Quantity: 1 Quantity: 1 size
Quantity: 1 Quantity: 1

Figure-07 Figure-08
Figure-09 Figure-10 Figure-11
Smooth rod shaft Lead screw Linear bearings Thrust ball bearing
Size: 10mm 400mm Size: 8mm 400mm Size: 10mm Size: 40x60x13mm
Quantity: 4 Quantity: 1 Quantity: 4 Quantity: 1

Figure-12 Figure-13 Figure-14 Figure-15

Thrust ball bearing Radial ball bearing GT2 pulleys Bolts and Nuts
Size: 35x52x12mm Size: 8x22x7mm Size:200mm and 300mm Size: M2, M3, M4 and M5
Quantity: 2 Quantity: 5 Quantity: 5 Quantity: depend on structure

Figure-16 Figure-17 Figure-18 Figure-19

 3D MODELING SOFTWARE

Figure-20 Modeling and Designing using these two software.

Figure-21
Figure-22
WORKING PRINCIPAL

• our robot is 4 axis so we are using 4 stepper motor. To run all four motors we
need four driver. We are using A4988 stepper motor controller. We are using
stepper motor because of its micro-stepping. For example, nema 17
completes one revolution in 200 steps. This kind of movement ultimately
increases the preciseness and accuracy of the end effector, which in our case
is suction cups.
STEPPER MOTOR(NEMA 17)

• The nema 17 is a bipolar stepper motor that converts energy from electrical to mechanical.

• The stepper motor working principle is Electro-Magnetism. It includes a rotor which is made with a permanent
magnet whereas a stator is with electromagnets. 

• The motor’s position can be controlled accurately without any feedback mechanism.

• The stepper motor can be controlled by energizing every stator one by one. So the stator will magnetize & works like
an electromagnetic pole that uses repulsive energy on the rotor to move forward.

• Micro Stepping This technique is most frequently used due to its accuracy. The variable step current will supply by
the stepper motor driver circuit toward stator coils within the form of a sinusoidal waveform. The accuracy of every
step can be enhanced by this small step current. This technique is extensively used because it provides high accuracy
as well as decreases operating noise to a large extent.
CNC ARDUINO SHIELD V3.51

• Arduino CNC shields provide an Arduino microcontroller with the power

necessary to drive stepper motors  and run all the other functions that
contribute to a CNC machine’s operation. Depending on the shield, this could
include end stops, spindle speed control, and probing.
SUCTION PUMP

For lifting the weight we are using DC 6V 380mA 500mmHg Micro Air
Pump.
• DC 6V Micro Air Pump uses a DC motor as the prime mover. The DC motor
takes the air from the surrounding at normal pressure and gives out high-
pressure air. This high-pressure air, in turn, has uses in many applications.
• Micro Air Pump can be operated or controlled by using a Micro-controller
like Arduino, Raspberry Pi, etc.
 BLOCK DIAGRAM

MOTOR STEPPER
DRIVER MOTOR
COMPUTER
APPLICATION LIMIT
SWITCH
MOTOR STEPPER
DRIVER MOTOR
VACUUM
POWER ARDUINO SOLNOIED
PUMP
SUPPLY UNO VALVE
MOTOR MOTOR
STEPPER
DRIVER MOTOR
LIMIT
SWITCH
MOTOR STEPPER
DRIVER MOTOR
CIRCUIT DIAGRAM

Vacuum pump

3-way solenoid
valve

Figure-23
FLOW CHART
Start

Get Target

Input signal from motor encoder

Response to motor

Is encoder input No
match the target
value ?
Yes
Placement of object has done and
wait for next input

Is any new Yes

task ?

No
End
SCHEMATIC DIAGRAM

Figure-24
 Direct
Kinematic
Model

Position and
Joint Link-Joint Orientation
Variable Parameter of end
Effector

Inverse
Kinemati
c Models
KINEMATICS STRUCTURE OF SCARA
ROBOT
A KINEMATIC MODEL IS A MATHEMATICAL DESCRIPTION OF THE
ROBOT. ITS FUNCTIONAL DIMENSIONS AND DOF. IT DESCRIBES THE
ROBOT'S WORKSPACE, ITS POSITIONAL CAPABILITIES AND
CONSTRAINTS.
FORWARD KINEMATICS
INVERSE KINEMATICS
Forward kinematics
Forward kinematics is used when we need to find the position and orientation of the end-effector from the
given joint angles.

Figure-25 Figure-26
INVERSE KINEMATICS
inverse kinematics is used when we need to find the joint angles for a given position of the end-effector. This
method makes more sense in robotics as most of the time we want the robot to position its tool to a particular
location or particular X, Y and Z coordinates.

Figure-27 Figure-28
 ARDUINO PROGRAMMING
AND
GUI (GRAPHIC USER INTERFACE)
FOR INVERSE AND FORWARD KINEMATICS
USING THE CONTROLP5 LIBRARY WITH THIS
LIBRARY WE CAN EASILY CREATE BUTTONS,
SLIDERS, TEXT FIELDS AND SO ON.

Figure-29 Figure-30
 ADVANTAGES
 PROTECTION AND ADDITIONAL INSTALLATION OPTIONS ARE AVAILABLE.

 COMPATIBLE WITH ALL ENVIRONMENTS.

 ALL SUBCOMPONENTS ARE EASILY ACCESSIBLE AND EXCHANGEABLE.

 LOWER TOTAL COST OF OWNERSHIP AND FASTER RETURN ON

INVESTMENT.

 THE REQUIRED SCARA DRIVE TORQUE IS SMALL AND THE ENERGY

CONSUMPTION IS SMALL.
QUOTATION
S. No Components Quantity Price
1 3D printed part of SCARA robot …… 30K
2 Stepper motor NEMA 17 4 2400
3 A4988 stepper Motor Driver 4 880
4 CNC Arduino Shield V3.51 1 400
5 AURDINO UNO 1 1400
6 Vacuum Suction Pump 1 850
7 ADAPTER 1 3500
8 3-way Electronic Valve 1 900
9 Thrust ball bearing 5 750
10 Radial ball bearing 5 1100
11 Cups 2 180
12 Miscellaneous ……… 10,000
TOTAL 52,360
CONCLUSION:

• The making of this SCARA project is whole new experience for us. We are
utilizing all the knowledge and experience gained through out our degree.
Everything is going according to the plan. We have printed all the parts
required for robot. Now we are going to assemble them. For saving time I am
working robotic arm and my partner is working upon the programming so
this will save lot of time.