3D Scanning Robot

Abstract— 3D scanning technologies such as laser scanning, structured light, and photogrammetry are widely used for generating accurate digital models of physical objects. However, these systems are often expensive, complex, and require high computational resources, which limits their accessibility for students, hobbyists, and small-scale applications. This paper presents the design and implementation of a low-cost, portable, and automated 3D scanning robot using Raspberry Pi and Arduino.

The proposed system integrates a Raspberry Pi 5 as the main controller and an Arduino Uno for real-time control of stepper motors and sensor operations. Two stepper motors, driven by A4988 motor drivers, are used for controlled 360° rotation of the object and vertical movement of the scanning sensor. A GP2Y0A41SK0F infrared sensor is used to measure distance at different positions, enabling the collection of spatial data. The acquired data is stored in CSV format and processed using MeshLab to generate point clouds and 3D models in STL format.

Experimental results demonstrate that the system is capable of scanning small to medium-sized objects with satisfactory accuracy for educational and prototyping applications. Minor errors due to sensor noise and mechanical vibrations were reduced through calibration techniques. The system provides an affordable and user-friendly alternative to commercial 3D scanners.

Keywords— 3D Scanning, Raspberry Pi, IR Sensor, Stepper Motor, MeshLab