diff --git a/implementation/SCARA/hardware/openSCAD/arm1.scad b/implementation/SCARA/hardware/openSCAD/arm.scad
similarity index 100%
rename from implementation/SCARA/hardware/openSCAD/arm1.scad
rename to implementation/SCARA/hardware/openSCAD/arm.scad
diff --git a/implementation/SCARA/hardware/openSCAD/carriage.json b/implementation/SCARA/hardware/openSCAD/carriage.json
new file mode 100644
index 0000000..d864e83
--- /dev/null
+++ b/implementation/SCARA/hardware/openSCAD/carriage.json
@@ -0,0 +1,48 @@
+{
+    "parameterSets": {
+        "design default values": {
+            "arm1": "70",
+            "arm2": "55",
+            "arm_thickness": "3",
+            "arm_width": "10",
+            "position": "[65, 105]",
+            "stepper_spaceing": "45"
+        },
+        "corner1": {
+            "arm1": "70",
+            "arm2": "55",
+            "arm_thickness": "3",
+            "arm_width": "10",
+            "position": "[15, 35]",
+            "stepper_spaceing": "45"
+        },
+        "corner2": {
+            "arm1": "70",
+            "arm2": "55",
+            "arm_thickness": "3",
+            "arm_width": "10",
+            "position": "[15, 85]",
+            "stepper_spaceing": "45"
+        },
+        "corner3": {
+            "arm1": "70",
+            "arm2": "55",
+            "arm_thickness": "3",
+            "arm_width": "10",
+            "position": "[85, 85]",
+            "stepper_spaceing": "45"
+        },
+        "corner4": {
+            "arm1": "70",
+            "arm2": "55",
+            "arm_thickness": "3",
+            "arm_width": "10",
+            "position": "[85, 35]",
+            "stepper_spaceing": "45"
+        }
+    },
+    "parameterSets": "",
+    "parameterSets": "",
+    "parameterSets": "",
+    "fileFormatVersion": "1"
+}
diff --git a/implementation/SCARA/hardware/openSCAD/carriage.scad b/implementation/SCARA/hardware/openSCAD/carriage.scad
new file mode 100644
index 0000000..a4a2a0b
--- /dev/null
+++ b/implementation/SCARA/hardware/openSCAD/carriage.scad
@@ -0,0 +1,74 @@
+use <stepper.scad>
+use <arm.scad>
+use <marker.scad>
+use <electronics.scad>
+//module arm(holes, width, thinkness, bore){
+
+
+arm1 = 70;
+arm2 = 55;
+x = 55; //[15:85]
+y = 70; //[35:85]
+length = sqrt(pow(x,2) + pow(y,2));
+arm1_sq = pow(arm1,2);
+arm2_sq = pow(arm2,2);
+length_sq = pow(length,2);
+b = acos((arm1_sq + length_sq - arm2_sq)/(2 * arm1 * length));
+c = acos((arm1_sq - length_sq + arm2_sq)/(2 * arm1 * arm2));
+angle1 = b + atan2(y,x) - 90;
+angle2 = angle1 - 90 + c;
+stepper_spaceing = 45;
+stepper_offset = 55;
+arm_thickness = 3;
+arm_width = 10;
+arm_offset = 15;
+
+%translate([stepper_offset,0,0]) {
+    // stepper on joint C
+  rotate([0,90,0]) stepper_103H5205();
+   // stepper on joint A
+  translate([0,stepper_spaceing,0]) rotate([0,90,0]) stepper_103H5205();
+
+  translate([arm_offset,0,0]){
+    
+    translate([0,stepper_spaceing,0]) rotate([angle1,0,0]) rotate([0,-90,0]) arm([0,-25],arm_width,arm_thickness,5);
+    //arm1
+    rotate([angle1,0,0]) rotate([0,-90,0]) arm([0,-25,arm1],arm_width,arm_thickness,5);
+
+    //arm2
+    translate([3,0,0]) rotate([angle1,0,0]) translate([0,0,-25]) rotate([-angle1,0,0]) rotate([90,0,90]) arm([0,stepper_spaceing],arm_width,arm_thickness,5);
+    translate([-3,0,0]) rotate([angle1,0,0]) translate([0,0,-25]) rotate([-angle1,0,0]) rotate([90,0,90]) arm([0,stepper_spaceing],arm_width,arm_thickness,5);
+
+    //arm3
+    rotate([angle2,0,0]){
+      translate([3,0,0]) rotate([90,0,-90]) arm([0,25],arm_width,arm_thickness,5);
+      translate([-3,0,0]) rotate([90,0,-90]) arm([0,25],arm_width,arm_thickness,5);
+      translate([0,-25,0]) rotate([angle1-angle2,0,0]) {
+        // arm4
+        rotate([0,-90,0]) arm([0,arm1],arm_width,arm_thickness,5);
+        translate([0,0,arm1]) rotate([angle2-angle1,0,0]) {
+          translate([3,0,0]) rotate([90, 0, 90]) arm([25,0,arm2+25],arm_width,arm_thickness,5);
+          translate([-3,0,0]) rotate([90, 0, 90]) arm([25,0,arm2+25],arm_width,arm_thickness,5);
+          translate([-stepper_offset-arm_offset,arm2+25]) rotate([0,90,0]) marker(0);
+        }
+      }
+    }
+  }
+}
+
+// electronics
+translate([20,80,-10]) rotate([-0,-90,0]){
+color("olive") translate([-12,-2,5]) cube([40,61,1]);
+stepper_controller();
+translate([0,25.4,0]) stepper_controller();
+}
+
+//carriage
+translate([stepper_offset,0,0])
+  rotate([0,90,0]) {
+    stepper_103H5205_mount();
+    translate([0,stepper_spaceing,0]) stepper_103H5205_mount();
+  }
+
+
+
diff --git a/implementation/SCARA/hardware/openSCAD/electronics.scad b/implementation/SCARA/hardware/openSCAD/electronics.scad
new file mode 100644
index 0000000..1cab7fc
--- /dev/null
+++ b/implementation/SCARA/hardware/openSCAD/electronics.scad
@@ -0,0 +1,24 @@
+module stepper_controller() {
+  //board
+  color("darkgreen") cube([15.24,20.32,1.5]);
+translate([0,0,1.5]){
+  pin_header(8);
+  translate([15.24-2.54,0,0]) pin_header(8);
+  }
+
+}
+
+
+module pin_header(length) {
+translate([1.27,1.27,0])
+  for (i = [0:length-1]){
+    translate([0,2.54*i,2.55]){
+      color("goldenrod") cube([0.62,0.62,11.15],center=true);
+      translate([0,0,-1.225])
+      color("#1a1a1a") hull() {
+        cube([2.55,1.8,2.5],center=true);
+        cube([1.8,2.55,2.5],center=true);
+      }
+    }
+  }
+}
diff --git a/implementation/SCARA/hardware/openSCAD/marker.scad b/implementation/SCARA/hardware/openSCAD/marker.scad
new file mode 100644
index 0000000..abcfd42
--- /dev/null
+++ b/implementation/SCARA/hardware/openSCAD/marker.scad
@@ -0,0 +1,18 @@
+$fn = $preview? 32 : 72;
+module marker(col) {
+  translate([0,0,7]) {
+    color(col) scale([4,4,14]) sphere(d=1);
+    color(col) cylinder(h=15, d1=7,d2=13);
+    translate([0,0,15]){
+      color(col) cylinder(h=11, d=13);
+      translate([0,0,11]) {
+        cylinder(h=97, d=14.5);
+        translate([0,0,97]) {
+          color(col) cylinder(h=4, d=13);
+        }
+      }
+    }
+  }
+}
+
+marker("red");
diff --git a/implementation/SCARA/hardware/openSCAD/stepper.scad b/implementation/SCARA/hardware/openSCAD/stepper.scad
new file mode 100644
index 0000000..c45583d
--- /dev/null
+++ b/implementation/SCARA/hardware/openSCAD/stepper.scad
@@ -0,0 +1,70 @@
+$fn = $preview? 32 : 72;
+
+module stepper_103H5205(){
+  body_length = 33;
+  body_width = 42;
+  shaft_length = 24;
+  shaft_diameter = 5;
+  flange_thickness = 1.5;
+  flange_diameter = 22;
+  hole_seperation = 31;
+  hole_bore = 3;
+  hole_depth = 4;
+  corner_radius = 5;
+  connector_height = 7;
+  connector_width = 27;
+  connector_depth = 11;
+  connector_offset = 20;
+
+  // body;
+  color("dimgray")
+  difference(){
+  rotate([180,0,0])
+    body(length=body_length, width=body_width, corner_radius = corner_radius);
+    // remove screws
+    rotate([180,0,0]) translate([0,0,-1]) four_cylinder(hole_seperation/2,hole_depth+1,hole_bore/2);
+  }
+  // flange
+  color("silver") translate([0,0,-1]) cylinder(h=flange_thickness+1,d=flange_diameter);
+  // shaft
+  color("lightcyan")cylinder(h=shaft_length,d=shaft_diameter);
+  color("snow")translate([body_width/2-1,-connector_width/2,-connector_offset-connector_depth]) cube([connector_height+1,connector_width,connector_depth]);
+}
+
+module body(length, width, corner_radius){
+  distance = (width/2-corner_radius);
+  hull(){
+    four_cylinder(distance,length,corner_radius);
+  }
+}
+
+module four_cylinder(distance,height,radius){
+  for (i = [0:3]){
+    rotate([0,0,90*i]) translate([distance,distance,0]) cylinder(h=height,r=radius);
+  }
+}
+
+stepper_103H5205();
+translate([0,0,0.2]) stepper_103H5205_mount();
+
+module stepper_103H5205_mount() {
+  body_width = 42;
+  flange_diameter = 22;
+  hole_seperation = 31;
+  hole_bore = 3;
+  hole_depth = 4;
+  corner_radius = 5;
+  bracket_thickness = 4;
+
+  difference(){
+    body(length=bracket_thickness, width=body_width, corner_radius = corner_radius);
+    translate([0,0,-0.5]) four_cylinder(hole_seperation/2,bracket_thickness+1,hole_bore/2);
+    translate([0,0,-0.5]) cylinder(h=bracket_thickness+1,d=flange_diameter+1);
+  }
+}
+    
+
+  
+    
+
+