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BAbout this program
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.
🖨 Print Files (32)
Arm - base center support.stl
STL
Arm - mounting bottom.stl
STL
Arm - mounting top.stl
STL
Arm - shoulder L.stl
STL
Arm - shoulder R.stl
STL
Arm - main arm L.stl
STL
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Required Hardware
~$10–$25 total
Slot 1
Arduino Uno (BYOD)
Arduino Uno — common controller for small servo-based designs like 4-DOF arms and bipedal walkers.
$10–$25
Where to buy →Product links updated Jun 2, 2026 · ✓ Confirmed fresh Jun 2, 2026
$380–$480 estimated
| 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 |
Robotis Dynamixel AX-18A Smart Servo ×3 ↗Robotis Dynamixel XL-320 Smart Servo ×2 ↗Arduino Mega 2560 Rev3 Board ↗74LS241 Octal Tri-State Buffer DIP-20 (10-Pack) ↗12V 5A DC Power Supply 5.5x2.1mm ↗Dynamixel Robot Cable-3P 180mm TTL AX/MX (10pcs) ↗Solderless Breadboard 830 Tie Points ↗Dupont Jumper Wire Kit Male Female 40pcs ↗M3 Stainless Steel Screw Assortment Kit ↗Dynamixel AX-Series FP04-F51/F52 Frame Set ↗
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