How to build ROBOTIS OpenManipulator-X
5-DoF desktop robot arm · Intermediate
OpenManipulator-X by ROBOTIS: a 4-DoF + gripper Dynamixel XM430 arm with 380 mm reach, 0.7 kg weight and <0.2 mm repeatability. Build steps and ROS setup.
Some soldering, calibration and Linux comfort needed.
Our estimate, part-time
Project's own total, source currency
CC-BY-4.0
What is ROBOTIS OpenManipulator-X?
OpenManipulator-X is ROBOTIS's open-source desktop manipulator, often paired with the TurtleBot3. Five Dynamixel XM430-W350-T servos give it four arm joints and a gripper. You can 3D-print the structure from the published files or buy it as a kit.
It's a staple of university ROS courses because the ROBOTIS e-Manual documents everything: URDF, inertia data, Gazebo, MoveIt and controller packages.
ROBOTIS OpenManipulator-X specifications
- DoF
- 5 (4 + gripper)
- Actuators
- Dynamixel XM430-W350-T
- Voltage
- 12 V
- Reach
- 380 mm
- Weight
- 0.70 kg
- Repeatability
- < 0.2 mm
- Gripper stroke
- 20–75 mm
- Controller
- PC via U2D2, or OpenCR
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| Dynamixel XM430-W350-T | 5 | |
| OpenCR, or U2D2 + power hub | 1 | |
| 12 V supply | 1 | |
| Frames | — | Kit or printed |
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 $1,629 as a ballpark from the project.
Tools you'll need
- Hex keys
- Dynamixel Wizard 2.0
- Ubuntu PC with ROS
Step-by-step build overview
Electronics & wiring overview
One 12 V Dynamixel TTL chain from the base to the gripper, running either through a U2D2 with a power hub or through an OpenCR.
Software
ROS controller, MoveIt, Gazebo and teleop packages, plus Dynamixel SDK, Arduino and Processing options.
Tips from the bench
- ☕ Keep the default IDs.
- ☕ It mounts on a TurtleBot3 Waffle Pi.
ROBOTIS OpenManipulator-X FAQ
What's the reach?
380 mm, with repeatability under 0.2 mm.
Can I print it?
Yes. ROBOTIS publishes the structural files; the servos and controller are bought parts.
Does it work with TurtleBot3?
Yes, it mounts on the Waffle Pi.
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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