This SCARA arm was designed to allow the user to have significant freedom due to the end effector design. The key technologies that we utilized were custom made a cycloidic motor gear assembly. A custom power distribution board that took an input of 24V that could distribute power to the motor drivers and the user interface. For the User interface of the system, the Raspberry pi compute module 5 was the computer that oversaw the Graphical User Interface (GUI) allowing for G-code commands to be entered directly through simulation to evaluate the movement of the arm. The challenges that we encountered with the arm were during the system integration period of the project. It was a mix of embedded software not working the way we wanted it too as well as power issues when the arm was in operation. Accomplishment involved a custom-made gear assembly also with a GUI that could run full simulations of the arm from the LCD screen,