PAROL6 Desktop Robot Arm

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

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 Gripper_ARMS 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 "Upper_arm.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/UPPER_ARM/Upper_arm.STL) and print it alongside the parts here. Every other structural part of the arm is included.