159 stars on GitHub. EvoArm is an open-source 3D-printable desktop robotic arm by Ali Shug, based in part on Armatec's LiteArm i2 (Thingiverse 480446). 3+2 DOF: three Dynamixel AX-12/AX-18A smart servos drive the main arm linkage, and two XL-320 servos drive a 2-DOF wrist effector. Source: https://github.com/AliShug/EvoArm Hardware: - 3 main DOF: Dynamixel AX-18A (recommended) or AX-12 smart servos - 2 wrist DOF: Dynamixel XL-320 servos - Arduino Mega 2560 controller (multiple hardware UARTs) - 74LS241 tri-state buffer for multiplexing servo data lines - Optional Arduino Uno setup using software-serial trick Software: - Python + PyGame inverse kinematics application (PyIK) - 3D target position + end-effector orientation control - Linear interpolation, bounds checking, reach-volume visualization - UDP command interface for external control programs License: CC-BY-SA 3.0.
Category: Arm Robots
| Item | Qty | Unit Cost | Notes | |------|-----|-----------|-------| | Dynamixel AX-18A smart servo | 3 | $90.00 | Main joints (AX-12A also supported but underpowered) | | Dynamixel XL-320 smart servo | 2 | $25.00 | Wrist / end-effector | | Arduino Mega 2560 Rev3 | 1 | $40.00 | Primary controller (Uno/Nano alternative) | | 74LS241 tri-state buffer IC | 1 | $1.50 | Multiplexes servo control lines | | 12V 5A DC power supply | 1 | $20.00 | (inferred) Powers Dynamixel bus | | 3-pin TTL servo cables (Dynamixel) | 5 | $3.00 | (inferred) Connect daisy-chained servos | | Breadboard or perfboard | 1 | $8.00 | (inferred) Buffer IC wiring | | Jumper wire kit | 1 | $7.00 | (inferred) Logic-level connections | | M3 fastener kit | 1 | $10.00 | (inferred) Joint and mount screws | | Servo horn / bracket hardware | 1 set | $15.00 | (inferred) AX-series F-brackets |