SCARA robot

I made this project for an entrepreneurship and as an undergraduate dissertation in Mechanical Engineering. It has BLDC motors in three of its four joints, with Odrive V3 controllers at 48V DC. Elbow and shoulder motors are coupled with a one-stage 7:1 planetary gearbox. https://youtube.com/shorts/5aoHeR5fDb4?si=WK0Q8Hp_ZfDiZUXS