BAbout this program
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.
🖨 Print Files (7)
arm2.stl
TopClawR.stl
TopClawL.stl
Arm1.stl
Standoff-Bot.stl
PCB_Chassis.stl
Required Hardware
| Item | Qty | Unit Cost | Notes |
|---|---|---|---|
| Raspberry Pi Zero 2 W | 1 | $24.04 | Main controller (U2) |
| LM2596 buck converter | 1 | $1.54 | Logic 5V (U1) |
| THT 3-pin connectors (5pk) | 1 | $1.84 | |
| THT 4-pin connectors (5pk) | 1 | $2.11 | |
| MG996R servo | 3 | $15.49 | Main joints |
| NEMA23 23HS5628 stepper | 1 | $25.05 | Base rotation |
| SG90 mini-servo | 1 | $3.29 | Claw |
| 24V 8A AC→DC PSU | 1 | $20.07 | Power supply |
| Rotary encoder | 5 | $2.72 | |
| Bearing 6800-2RS (10×19×5) | 4 | $4.10 | |
| M5 75mm screws (10pk) | 1 | $0.99 | |
| M3/M4/M5 screw + nut pack | 1 | $16.32 | |
| PLA filament (1kg white matte) | 1 | $21.87 | |
| Resistor pack | 1 | $3.20 | 10k + 1k |
| 2.1mm DC jack THT | 1 | $1.35 | |
| DC 24V→6V step-down | 1 | $7.67 | Servo rail |
| 20AWG hookup wire (multi-color) | 1 | $10.98 | |
| TMC2208 stepper driver | 1 | $4.31 |