# 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](https://source-robotics.com)). 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](https://source-robotics.com)** — fully supported, pre-sourced parts 2. **Source & print yourself** — follow the [BOM](https://github.com/PCrnjak/PAROL6-Desktop-robot-arm/tree/main/BOM) and [Building instructions](https://github.com/PCrnjak/PAROL6-Desktop-robot-arm/tree/main/Building%20instructions) ## 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](https://github.com/PCrnjak/PAROL6-Desktop-robot-arm/tree/main/STL). ## Resources - 📖 [Official Docs](https://source-robotics.github.io/PAROL-docs/) - 🎥 [YouTube demo](https://youtu.be/bbrFn3aFLaA) - 🐍 [Python API](https://github.com/PCrnjak/PAROL6-python-API) - 🎛 [Commander software](https://github.com/PCrnjak/PAROL-commander-software) - 🤖 [ROS2 / MoveIt simulation](https://github.com/PCrnjak/PAROL6-ROS2-MOVEIT) - 💬 [Discord community](http://discord.gg/prjUvjmGpZ) ## ⚠️ Safety PAROL6 involves lethal voltages and moving mechanical parts. Read the full [SAFETY WARNING AND DISCLAIMER](https://github.com/PCrnjak/PAROL6-Desktop-robot-arm/blob/main/SAFETY_WARNING_AND_DISCLAIMER.md) before assembling or operating. ## Attribution Source: [PCrnjak/PAROL6-Desktop-robot-arm](https://github.com/PCrnjak/PAROL6-Desktop-robot-arm) · License: GPLv3 · © Petar Crnjak / Source Robotics
Category: Arm Robots
| Part | Notes | |------|-------| | Stepper motors | 6 joints; specific models in official BOM | | Motor drivers | Per stepper | | 3D printed arm links | All structural parts printable | | Bearings | Multiple sizes; exact list in BOM | | Arduino Mega 2560 | Main controller | | 24V power supply | Powers all motors | | M3/M4/M5 bolts + heat inserts | Throughout frame assembly | | CNC shield + stepper drivers | Motion control hardware |