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Intermediate build

How to build MOTUS

6-DoF desktop robot arm · Intermediate

Build MOTUS, the Elisava student-designed 6-DoF 3D-printed arm with 600 mm reach and 500 g payload, Arduino firmware, remote control and a standard-parts BOM.

Start the buildProject files
Difficulty
Intermediate

Some soldering, calibration and Linux comfort needed.

Build time
2–4 weekends

Our estimate, part-time

Parts cost
Not published

Price the BOM yourself

Degrees of freedom
6

License not stated

What is MOTUS?

MOTUS is a six-axis, almost fully 3D-printed arm designed by three fourth-year Industrial Design Engineering students at Elisava in Barcelona. Their goal was an arm that schools could afford, repair and customise.

It reaches 600 mm, carries up to 500 g and can be driven from software or a handheld remote. The repo has the CAD, STLs, a user manual, Arduino firmware and a BOM built from standard parts.

MOTUS specifications

DoF
6
Reach
600 mm
Payload
500 g
Control
Arduino firmware; software or remote

Figures as published by the project. See Sources below.

Bill of materials

PartQtyNotes
Motors and drivers—Per BOM
Arduino-compatible controller1
Remote1
3D-printed parts—
Standard bearings and fasteners—
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 Not published as a ballpark. Start at the project repository.

Tools you'll need

  • 3D printer
  • Hex keys
  • Soldering iron
  • Arduino IDE

Step-by-step build overview

Electronics & wiring overview

The Arduino controller drives all six joints and reads the remote. The schematics are in the manual.

DC power supplypower sourceLaptop / PChigh-level controlEncoderssensingArduino boardreal-time controllerMotor driverdrivers / busMotors6 joints / motors
PowerData / commandsSensor feedbackOverview only. Follow the project's own schematic for pinouts and voltages.

Software

URDF model

Arduino IDE firmware with software or remote control.

Tips from the bench

  • ☕ Treat 500 g as the limit at full reach.
  • ☕ Repairability was a design goal, so print spares.

MOTUS FAQ

Who made MOTUS?

Three Elisava Industrial Design Engineering students.

What can it lift?

500 g, with a 600 mm reach.

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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