3D Print Open Source AI Robots

PAROL6 Desktop Robot Arm A high-performance 6-DOF desktop robotic arm designed to mirror industrial robots in mechanical design, control software, and usability — but small enough to sit on your desk. Designed by Petar Crnjak (Source Robotics). Released under GPLv3. STL files, control software, and GUI are all open-source. What you can do Run kinematic demos from your browser Practice pick-and-place with the included gripper attachments Learn industrial-style arm control (home, jog, teach points) Extend with your own gripper tooling (pneumatic, vacuum, 2-finger) Specs | | | |---|---| | Degrees of Freedom | 6 + gripper | | Joints | J1 base, J2 shoulder, J3 elbow, J4/J5 forearm, J6 wrist | | Payload | ~500g (typical) | | Reach | ~400mm | | Controller | Custom PAROL6 control board (STM32-based, PlatformIO) | | Motors | NEMA 17 stepper motors on joints | | License | GPLv3 (software + STLs) | Build options Two paths: 1. Buy a kit from Source Robotics — fully supported, pre-sourced parts 2. Source & print yourself — follow the BOM and Building instructions STL files This program includes a representative subset of 12 STLs covering BASE, SHOULDER, ELBOW, FOREARM, GRIPPER, and ESTOP groups. For the full 41-part canonical set (plus mounting plates and extras), see the STL directory on GitHub. Resources 📖 Official Docs 🎥 YouTube demo 🐍 Python API 🎛 Commander software 🤖 ROS2 / MoveIt simulation 💬 Discord community ⚠️ Safety PAROL6 involves lethal voltages and moving mechanical parts. Read the full SAFETY WARNING AND DISCLAIMER before assembling or operating. Attribution Source: PCrnjak/PAROL6-Desktop-robot-arm · License: GPLv3 · © Petar Crnjak / Source Robotics Printing PAROL6 is a 6-DOF desktop robot arm. The Print All set covers the full mechanical build: the base/electronics enclosure, the J1 turret/shoulder assembly, the J2 upper-arm joint, the upper arm and its covers, the elbow (J3/J4), the forearm and J5 wrist drive (pulleys, belt lids), the wrist, the E-stop housing, and a gripper attachment. Print one of each part. Most belts/pulleys are printed once; follow the upstream assembly guide for orientation and supports. Gripper options: this set includes GripperARMS plus the pneumatic and vacuum gripper holders as alternate end-effectors — choose the one that matches your hardware (you don't need all three). A second "horizontal pneumatic" gripper variant exists upstream and can be substituted if preferred. Important — one oversized part: the main "Upperarm.STL" (~33 MB) is the single largest part and exceeds this site's file-size limit, so it could not be hosted in the Print Files list. Download it directly from the upstream repository (PCrnjak/PAROL6-Desktop-robot-arm, under STL/UPPERARM/Upper_arm.STL) and print it alongside the parts here. Every other structural part of the arm is included.

Poppy Ergo Jr is a 6-DOF desktop robot arm from the Poppy Project — an open-source robotics platform developed at Inria's Flowers team for education, research, and artistic practice. Ergo Jr is the most accessible member of the Poppy family: small, inexpensive, fully 3D-printable, and built around Robotis XL-320 smart servos that make hands-on motion tasks as simple as writing "motor.goal_position = 90". The arm is designed to teach robotics and programming concepts to students at the middle-school and undergraduate level. Primitives like "dance" and "jump" are built-in, and the included three interchangeable end-effectors (lampshade, two-finger gripper, pen holder) allow the same hardware to be used for expressive performance, pick-and-place, or drawing. Its compliant mode (torque-off) lets a human back-drive the arm to teach trajectories by demonstration — a natural introduction to learning-from-demonstration and human-in-the-loop robotics. Software-wise, Poppy Ergo Jr ships with pypot (a Python library for controlling Dynamixel smart servos), a Jupyter-based notebook UI, and an optional web dashboard. It runs on a Raspberry Pi connected to the Dynamixel bus via a USB-to-TTL adapter (the "usb2ax" or "usb2dynamixel" board). The whole stack is pedagogically designed for drop-in classroom use — plug in power, connect over Wi-Fi, launch a notebook. This program exposes cloud-side controls for rest posture, compliant-mode toggle, primitive playback (dance, jump), per-joint target angles with configurable duration, and demonstration record/replay. The Raspberry Pi onboard the arm acts as the bridge from the orobot cloud to the Dynamixel bus via pypot. Credit to the Poppy Project community and Inria Flowers team (poppy-project.org) — upstream repository at https://github.com/poppy-project/poppy-ergo-jr. Hardware under Creative Commons Attribution-ShareAlike 4.0; software under GPLv3. Share-alike requires derivative hardware designs to be published under the same CC-BY-SA-4.0 license.

2,794 stars on GitHub. The PAROL6 is a high-performance 6-DOF desktop robotic arm designed by Petar Crnjak (Source Robotics) under GPLv3. Its mechanical and control approach mirrors industrial-class arms — closed-loop stepper drives, limit switches on every joint, and an E-stop module — but at a desktop footprint and DIY cost. Source: https://github.com/PCrnjak/PAROL6-Desktop-robot-arm The repo ships the full STL set organized by joint module (BASE, SHOULDER, UPPERARM, ELBOW, FOREARM, WRIST, plus interchangeable gripper attachments — pneumatic, vacuum, mechanical), a complete BOM PDF, step-by-step building instructions, and the PAROL Commander control software. A ROS 2 / MoveIt simulation package and a Python API are maintained alongside. Specs at a glance: 6 degrees of freedom ~400mm reach (desktop class) Closed-loop stepper drives on every joint with limit switches Custom control board (PAROL6) running open firmware Optional grippers: parallel mechanical, pneumatic, vacuum Build resources: BOM: https://github.com/PCrnjak/PAROL6-Desktop-robot-arm/tree/main/BOM Building instructions: https://github.com/PCrnjak/PAROL6-Desktop-robot-arm/tree/main/Building%20instructions Docs site: https://source-robotics.github.io/PAROL-docs/ Commander software: https://github.com/PCrnjak/PAROL-commander-software ROS 2 / MoveIt: https://github.com/PCrnjak/PAROL6-ROS2-MOVEIT Hackaday project page: https://hackaday.io/project/191860-parol6-desktop-robotic-arm Discord: http://discord.gg/prjUvjmGpZ License: GPLv3. The PAROL6 is sold preassembled by Source Robotics, but the full design is open for self-sourcing and building. Printing The Print All set is the full mechanical build of the PAROL6, byte-verified against the upstream repo's directory (PCrnjak/PAROL6-Desktop-robot-arm). Print one of each part listed below (PLA/PETG; follow the upstream Building Instructions for orientation, supports, and infill). Base / electronics enclosure: , , , , , Shoulder (J1/J2): , , , , , , , , Upper arm (J2/J3 drive): , , , , , , Elbow (J3/J4): , , , , Forearm / J5 wrist drive: , , , , , E-stop housing: , Gripper — choose one (mutually exclusive end-effectors, don't print all): — 2-finger mechanical gripper — pneumatic gripper mount — vacuum/suction mount Upstream also offers a "horizontal pneumatic" gripper variant ( / ) you can substitute if that's your setup. One oversized part not hosted here: (~34 MB, ~677k triangles) exceeds the site's upload limit, so it isn't in the Print Files list. Download it directly from the upstream repo at and print it alongside the parts above — every other structural part of the arm is included. Not printed (from BOM):** 6 × NEMA 17 steppers, the custom PAROL6 control board + TMC5160 drivers, planetary gearboxes, bearings, belts, pulleys (metal), limit switches, E-stop button, power supply, and fasteners.