SaturnArm

SaturnArm — A Simple 5-DOF Robotic Arm

A budget-friendly 3D-printed robotic arm with inverse kinematics, controlled by a Raspberry Pi Zero 2 W. Originally built as a VR-teleoperation experiment inspired by NASA Mars rover footage, SaturnArm gives you a fully assembled desktop arm for ~$200 USD in parts.

Highlights

• 5 actuators total: 3× MG996R servos, 1× NEMA23 stepper (TMC2208 driver), 1× SG90 mini-servo (claw)
• On-board PCB (KiCad sources included) consolidates power + signal
• C++ firmware on Raspberry Pi Zero 2 W with simple text-command protocol (move:x,y, servo:n:deg, stop)
• Optional Pi Camera Module B+ for vision feedback
• 24V → 6V step-down for servos; LM2596 for logic

What you'll build 3D-print the chassis (single-plate G-code provided for Bambu Lab A1m, ~$31 of filament), order the BOM from AliExpress, assemble the PCB at JLCPCB ($3.50 for 5 boards), wire it up, flash the firmware, and calibrate.

Source: github.com/regular030/SaturnArm · Creator: regular030 · License: unspecified (treat as ARR — credit the creator, link the repo)

If you're the maker and you spot your work here: come claim it. Sign up, take the title, run the crew.

Printing

A clean, complete 7-part set for one SaturnArm — every part maps directly to the pictured arm, all print-one-each, no duplicates/variants/sim meshes. PLA (~485 cm³, ~$31 filament); single-plate G-code for a Bambu A1m is provided upstream.

Print one each (7), bottom-to-top:

• PCB_Chassis — the electronics box that houses the PCB at the base
• Standoff-Bot — PCB standoffs/mounts inside the chassis
• Arm_Base — rotating base (driven by the NEMA23 stepper)
• Arm1 — lower arm link
• arm2 — upper arm link
• TopClawL + TopClawR — the two halves of the parallel-jaw gripper/claw (both required — they are the left and right jaw, not alternates)

Actuators (not printed): 3× MG996R servos (main joints) + 1× NEMA23 stepper with TMC2208 (base rotation) + 1× SG90 mini-servo (claw), on a Raspberry Pi Zero 2 W with the project's custom PCB.

No changes were needed to this list — it was already correct. (File names use mixed casing, e.g. arm2 vs Arm1; cosmetic only, doesn't affect printing.)