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How to build SmallRobotArm (Skyentific)

6-DoF desktop robot arm · Advanced

SmallRobotArm by Skyentific: an open-source 6-DoF desktop arm driven by stepper motors, with GPL-3.0 CAD and code and a YouTube build series.

Start the buildProject files
Difficulty
Advanced

Many actuators, custom wiring and real tuning work.

Build time
1–3 months

Our estimate, part-time

Parts cost
Not published

Price the BOM yourself

Degrees of freedom
6

GPL-3.0

What is SmallRobotArm (Skyentific)?

SmallRobotArm is a six-axis desktop arm driven by stepper motors, designed by the YouTuber Skyentific. He covers the design in videos and publishes the CAD and code under GPL-3.0.

The written documentation is thin. The repo is mostly CAD and code, so you'll rely on the videos and the Hackaday.io page. That suits experienced builders better than first-timers.

SmallRobotArm (Skyentific) specifications

DoF
6
Actuators
Stepper motors
License
GPL-3.0

Figures as published by the project. See Sources below.

Bill of materials

PartQtyNotes
Stepper motors and drivers6 each
Microcontroller1
3D-printed parts—
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

Step-by-step build overview

Electronics & wiring overview

Six stepper drivers on step/direction lines from the controller.

DC power supplypower sourceLaptop / PChigh-level controlEncoderssensingArduino boardreal-time controllerStepper driversdrivers / busNEMA 17 steppers6 joints / motors
PowerData / commandsSensor feedbackOverview only. Follow the project's own schematic for pinouts and voltages.

Software

The project ships its own firmware and control code. See the repository for setup.

Code in the repo. The videos cover the kinematics.

Tips from the bench

  • ☕ Expect to fill gaps in the docs yourself.

SmallRobotArm (Skyentific) FAQ

Is it well documented?

Mostly through videos. The repo has CAD and code with little written instruction.

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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