The SCARA robot has 4 degrees of freedom which are driven by 4 NEMA 17 stepper motors and controlled using an Arduino board. We will use a 5.5W laser module which is good enough for engraving. A cool feature that we get with this SCARA robot setup is that we can have a bigger range of the Z-axis movement and so we can laser engraver taller objects. 

Instead of bits or lasers, the main tool of this machine is a hot wire, or a special type of resistance wire which gets really hot when current flows through it. The hot wire melts or vaporizes the foam when passing through it and so we can precisely and easily get any shape we want.

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​The Industrial PUMA robot is a robotic arm design from scratch and its structure is fully printed using additive manufacturing technologies and its electronics are controlled by the software Arduino.