Mengqi Liu

At present, although there are many SCARA manipulator solutions with vertical lifting functionality, they generally suffer from high maintenance costs and complex structures. Moreover, systematic performance evaluations based on international standards are lacking, leading to unclear critical performance boundaries such as accuracy and payload in practical applications. To address these issues, this paper designs and manufactures a low-cost SCARA manipulator for educational and research demonstrations as well as light-duty electronic parts assembly scenarios. A “leadscrew + stepper motor” scheme is adopted for vertical lifting, and an Arduino Mega 2560 development board serves as the core controller, significantly reducing system cost. A three-dimensional model is established using SolidWorks 2022, and kinematic simulations are carried out with MATLAB 2024a to preliminarily verify the feasibility of the mechanism. Subsequently, a physical prototype is built and experimental tests are conducted in accordance with the ISO 9283 standard. The experimental results show that the repeatability of the manipulator is controlled within the range of 0.05–0.3 mm, the path deviation caused by vibration lies between −0.52 mm and 0.3 mm, and the maximum payload capacity is 3.91 N. These experimental data can serve as a benchmark for the design and performance comparison of similar low-cost manipulators.