How to build Faze4 Robotic arm
6-DoF desktop robot arm · Intermediate
Build Faze4 by Petar Crnjak: a 3D-printable 6-axis arm with printed cycloidal gearboxes and internal wiring, under $1,000, about 15 kg. Docs, BOM and tips.
Some soldering, calibration and Linux comfort needed.
Our estimate, part-time
Under $1,000 (designer's figure)
CERN-OHL-S-2.0 (LICENSE file; README badge says MIT)
What is Faze4 Robotic arm?
Faze4 is a six-axis, fully 3D-printable arm by Petar Crnjak, who went on to found Source Robotics and design the PAROL6. It was built to look and behave like an industrial robot while staying affordable for students and makers.
Three things set it apart. Its 3D-printed cycloidal gearboxes give low backlash and can simply be reprinted when they wear. All the wiring runs inside the arm. And the parts come in under $1,000. The trade-off is size: Faze4 has about 1,000 parts including screws and bearings, and weighs around 15 kg.
Versions and forks
- PAROL6, the designer's later desktop arm
Faze4 Robotic arm specifications
- Axes
- 6
- Reducers
- 3D-printed cycloidal
- Actuators
- Stepper motors
- Part count
- ≈1,000 incl. fasteners and bearings
- Weight
- ≈15 kg
- Software
- ROS and MATLAB examples, URDF
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| Stepper motors and drivers | 6 each | |
| Bearings | — | See BOM_7_11_2023.xlsx |
| 3D-printed structure and gearboxes | — | |
| Controller and power supply | — | Per the docs |
| Fasteners | — | Several hundred |
Where's the full bill of materials?
The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat $1,000 as a ballpark from the project. Start at the project repository.
Tools you'll need
- Accurate 3D printer
- Metric hex keys
- Soldering iron
- Crimp tools
- Calipers
Step-by-step build overview
Electronics & wiring overview
Each stepper has its own driver, all fed from a central controller, with the cables routed inside the arm. The designer splits the documentation: the PDF covers the mechanics and the docs site covers the electronics.
Software
The docs cover low-level setup and high-level control from ROS and MATLAB, and the repo ships a URDF.
Tips from the bench
- ☕ Use both documents together.
- ☕ Prototype a single gearbox before printing all six.
- ☕ The Source Robotics Discord is active.
Faze4 Robotic arm FAQ
How much does Faze4 cost?
Under $1,000 in parts, according to the designer.
Why cycloidal drives?
They're compact, have low backlash, and you can reprint the parts when they wear.
How big is Faze4?
Around 15 kg, with roughly 1,000 parts.
Sources
Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.
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