A desktop industrial-style 6-DOF arm (yaw-roll-roll-yaw-roll-yaw) that stands 625 mm stretched and lifts 750 g including the end effector. Every joint is driven by a NEMA17 stepper through 3D-printed gears, GT2 pulleys and belts; the base houses the electronics. It speaks G-code (GRBL or RepRapFirmware) and has a ROS 2 / MoveIt 2 stack; hardware cost is under 350 EUR.

Parts

The printed parts are the author's STEP files, imported unchanged (46 of the 49 are placed in the assembly). Placements come from the FreeCAD assembly documents and the joints from the ROS URDF (joint axes and limits as published). Steppers, bearings, belts, fans and the control board are not modelled.

Link	Parts
base	BaseBot, BaseTop, BaseBoxBody, BaseBoxCover, BaseBearingFix, Art1GearMotor
Art1	Art1Body, Art1Bot, Art1Top, Art1FanHolder x2, Art2MotorGear x2, Art2BodyACover1, Art23Optodisk, CommonBearingFixThrough
Art2	Art2BodyA, Art2BodyB, Art2BodyUnion, Art2BodyAWindow, Art2BodyACover2, Art2BodyBCover, Art2SideCover x2, CommonBearingFix x4, Art3TensionerBody x2, Art3TensionerPulley x2
Art3	Art3Body, Art3Pulley, Art4MotorFix, Art4MotorGear, Art4BearingRing, Art23Optodisk, CommonBearingFixThrough x2
Art4	Art4Body, Art4BodyBot, Art4TransmissionColumn, Art4BodyFan x2, Art56MotorHolderA x2, Art56MotorHolderB x2, Art4BearingFix x2, Art4Optodisk
Art5/6	Art56MotorCoverRing, Art56SmallGear x2, CommonBearingFixThrough, Art56GearPlate, GripperBot, GripperTop, GripperActiveArm, GripperPassiveArm, GripperArm x2, GripperFinger

Bill of materials

7 x NEMA17 steppers (twin motors on Art2), GT2 20T/40T pulleys and belts, 625ZZ / MF84ZZ / 16014 bearings, 5 mm shafts, optical endstops, 40 and 50 mm fans, an Arduino Mega with the ThorControlPCB shield (or a commercial 32-bit board), a hobby servo for the gripper, M3/M4/M5 hardware.