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, UPPER_ARM, 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.
Category: Arm Robots
| Item | Qty | Unit Cost (USD) | Total (USD) | Notes | |------|-----|-----------------|-------------|-------| | PAROL6 Custom Control Board (STM32, 6× stepper drivers, CAN, isolated I/O) | 1 | $250 | $250 | Available pre-built from Source Robotics; PCB Gerbers in repo for self-fab — [Source Robotics shop](https://source-robotics.com/) | | NEMA 17 Stepper Motor — 60mm body, high-torque (J1, J2, J3) | 3 | $25 | $75 | Base 3 axes — [Amazon search](https://www.amazon.com/s?k=NEMA+17+stepper+motor+60mm+high+torque) | | NEMA 14 Stepper Motor — wrist (J4, J5, J6) | 3 | $20 | $60 | Wrist axes — [Amazon search](https://www.amazon.com/s?k=NEMA+14+stepper+motor) | | Planetary gearbox — NEMA 17, 5:1 reduction | 3 | $35 | $105 | Joints 1–3 — [Amazon search](https://www.amazon.com/s?k=NEMA+17+planetary+gearbox+5%3A1) | | 24V 10A Power Supply (DC barrel) | 1 | $35 | $35 | [Amazon search](https://www.amazon.com/s?k=24V+10A+power+supply) | | GT2 timing belts — 6mm wide, closed-loop assortment (200, 280, 400 mm) | 4 | $5 | $20 | Belt drives — [Amazon search](https://www.amazon.com/s?k=GT2+timing+belt+6mm+closed+loop+assortment) | | GT2 pulleys — 5mm bore, 16T / 20T / 60T mix | 8 | $4 | $32 | [Amazon search](https://www.amazon.com/s?k=GT2+pulley+5mm+bore+kit) | | Cross-roller bearing 70mm OD (base slewing) | 1 | $30 | $30 | [Amazon search](https://www.amazon.com/s?k=cross+roller+bearing+70mm) | | Deep-groove bearing assortment (608ZZ, 625ZZ, 6800ZZ) | 1 | $15 | $15 | [Amazon search](https://www.amazon.com/s?k=608+625+6800+bearing+assortment) | | Magnetic encoder (AS5048A on small PCB) | 6 | $8 | $48 | One per joint for closed-loop — [Amazon search](https://www.amazon.com/s?k=AS5048A+magnetic+encoder+module) | | Diametric magnet (6×2.5mm) | 6 | $1 | $6 | Pairs with encoder — [Amazon search](https://www.amazon.com/s?k=diametric+magnet+6mm+encoder) | | Hall-effect / inductive limit sensor | 6 | $3 | $18 | Joint homing — [Amazon search](https://www.amazon.com/s?k=hall+effect+limit+switch+module) | | Pneumatic tubing — 4mm OD, polyurethane (10m) | 1 | $10 | $10 | Routed through arm for vacuum/pneumatic gripper — [Amazon search](https://www.amazon.com/s?k=4mm+OD+polyurethane+pneumatic+tubing) | | Pneumatic push-to-connect fittings (4mm) assortment | 1 | $10 | $10 | [Amazon search](https://www.amazon.com/s?k=4mm+pneumatic+push+fitting+kit) | | Slip ring — 12-wire, 2A (optional, for J1 continuous rotation) | 1 | $25 | $25 | [Amazon search](https://www.amazon.com/s?k=slip+ring+12+wire+2A) | | 22 AWG silicone hookup wire (assorted colors) | 1 | $15 | $15 | Internal wiring — [Amazon search](https://www.amazon.com/s?k=22+AWG+silicone+wire+kit) | | JST-XH connector kit (2.54mm, 2–6 pin) | 1 | $15 | $15 | Modular wiring harness — [Amazon search](https://www.amazon.com/s?k=JST+XH+connector+kit) | | M3 socket-head screw assortment (6–30mm) | 1 | $20 | $20 | Project-specific — [Amazon search](https://www.amazon.com/s?k=M3+socket+head+screw+assortment) | | M2 / M2.5 / M4 screw assortment | 1 | $15 | $15 | [Amazon search](https://www.amazon.com/s?k=M2+M2.5+M4+screw+assortment) | | Heat-set threaded inserts M3 (100-pack) | 1 | $12 | $12 | [Amazon search](https://www.amazon.com/s?k=M3+heat+set+threaded+insert+brass) | | 3D-printer filament (PLA+ or PETG, ~2 kg) | 2 | $20 | $40 | All structural parts in repo's `STL/` — [Amazon search](https://www.amazon.com/s?k=PETG+filament+1kg) | | USB-C cable (PC ↔ control board) | 1 | $8 | $8 | [Amazon search](https://www.amazon.com/s?k=USB+C+cable+1m) | **Estimated total: $700–$900 USD** (DIY build; closer to $350 CAD ≈ $260 USD reported by frugal builders in low-cost regions, up to $3,570 EUR for the fully-assembled arm from Source Robotics). Source: https://github.com/PCrnjak/PAROL6-Desktop-robot-arm/tree/main/BOM (`PAROL6_BOM_4_4_2026.pdf`) and https://source-robotics.com/.