diff --git a/content/case_experiment_scara.tex b/content/case_experiment_scara.tex
index 9220765..ccaaafc 100644
--- a/content/case_experiment_scara.tex
+++ b/content/case_experiment_scara.tex
@@ -46,28 +46,7 @@
         \subsubsection{Basics implementation}
             \begin{marginfigure}
                     \centering
-                    \begin{tikzpicture}
-                            \tikzstyle{arrow} = [-latex,ultra thick]
-                    
-                    % draw roof
-                    \fill[pattern = north east lines] ($ (0,0) + (-1,0) $) rectangle ($ (0,0) + (1,0.5) $);
-                    \draw[thick] ($ (0,0.5) + (-1,0) $) -- ($ (0,0.5) + (1,0) $);
-                    
-                    %draw arm and joints
-                            \fill (0,0.5) circle (0.2);  
-                            \draw[thick] (0,0.5) to node[midway,right,draw=none] {$a$} (-1.5,3.5);  
-                            \fill (-1.5,3.5) circle (0.2); 
-                            \draw[thick] (-1.5,3.5) to node[midway,above,draw=none] {$b$}(1.51,4.26);		
-                            
-                            %draw mass
-                            \draw (1.7,4.32) circle (0.2) node {$m$};
-                            
-                            %draw arc
-                    %\draw[dashed,gray] (-1.5,3.5) -- ++(2.5,0);
-                    %\draw (1,0.5) arc (0:116:1cm) node[above,midway] {$\theta$};	
-
-                    %\draw [arrow] (c.south) -- +(0,-1cm) node[midway,right,draw=none] {$F_{g} = m \cdot g$};
-                    \end{tikzpicture}
+                    \includegraphics[width=0.9\linewidth]{graphics/scara_arm_kinematics.pdf}
                     \caption{Basic kinematics of the SCARA}
                     \label{fig:scaraarm}
             \end{marginfigure}
diff --git a/graphics/scara_arm_kinematics.tex b/graphics/scara_arm_kinematics.tex
new file mode 100644
index 0000000..985fe9a
--- /dev/null
+++ b/graphics/scara_arm_kinematics.tex
@@ -0,0 +1,39 @@
+%&tex
+\documentclass{standalone}
+\usepackage{tikz}
+\usepackage{siltex}
+\usetikzlibrary{calc,positioning,patterns,math}
+
+\begin{document}
+\begin{tikzpicture}[x=0.75cm, y=0.75cm]
+    \tikzstyle{arrow} = [-latex,ultra thick]
+
+    % draw roof
+    \fill[pattern = north east lines] ($ (0,0) + (-1,0) $) rectangle ($ (0,0) + (1,0.5) $);
+    \draw[thick] ($ (0,0.5) + (-1,0) $) -- ($ (0,0.5) + (1,0) $);
+
+    %draw arm and joints
+    \pgfmathsetmacro{\alphahoek}{120};
+    \pgfmathsetmacro{\a}{4};
+    \pgfmathsetmacro{\betahoek}{-105};
+    \pgfmathsetmacro{\b}{4};
+    \pgfmathsetmacro{\radius}{0.8};
+    \begin{scope}[shift={(0,0.5)}]
+        \draw (\radius,0) arc [start angle=0, end angle=\alphahoek, radius=\radius] node[above,midway] {$\alpha$};
+        \begin{scope}[rotate=\alphahoek]
+            \fill (0,0) circle (0.2);  
+            \draw[thick] (0,0) to node[midway,right,draw=none] {$a$} (\a,0);  
+            \begin{scope}[shift={(\a,0)}]
+                \draw (-\radius,0) arc [start angle=-180, end angle=\betahoek, radius=\radius] node[right,midway] {$\beta$};
+                \begin{scope}[rotate=\betahoek]
+                    \fill (0,0) circle (0.2);  
+                    \draw[thick] (0,0) to node[midway,below,draw=none] {$b$} (\b,0);  
+                    \begin{scope}[shift={(\b,0)}]
+                        \draw[fill=white] (0,0) circle (0.3) node {$m$};
+                    \end{scope}
+                \end{scope}
+            \end{scope}
+        \end{scope}
+    \end{scope}
+\end{tikzpicture}
+\end{document}