Stringman is an open-source room-scale cable-suspended crane robot by Neufangled Robotics. Multiple anchor units mount on walls or ceiling and each reel a cable under computer control to suspend and precisely position a gripper anywhere in 3D space — like a miniature industrial cable robot for your home. The system uses computer vision (apriltags + calibrated cameras on each anchor) and a Kalman-filter position estimator to achieve millimeter-level positioning without encoders on the gantry itself. An optional ML model (PyTorch, runs on NPU or GPU) enables autonomous object detection and pick-and-place sequences. **Key specs:** - Architecture: parallel cable robot (4 anchors + 1 gripper unit) - Anchors: MKS42C stepper motors or DM-H6215 BLDC, Raspberry Pi Zero 2W per anchor - Gripper: servo-actuated (InventorHATMini), BNO085 IMU, VL53L1X laser rangefinder - Host controller: PC/laptop — min 8 cores, 8 GB RAM, PyTorch acceleration required - Control protocol: WebSocket + Protobuf over mDNS-discovered LAN connections - Firmware: Python (nf_robot package), Apache 2.0 - Hardware designs: CERN-OHL-W 2.0 **Attribution:** Built by Nathan Fong / Neufangled Robotics. **Source:** https://github.com/nhnifong/cranebot3-firmware **Hardware CAD:** https://neufangled.com/docs/downloads/ **Docs & build guides:** https://neufangled.com/docs **Store:** https://neufangled.com/store **License notice:** STL files and hardware designs are released under the CERN Open Hardware Licence Weakly Reciprocal v2 (CERN-OHL-W 2.0). The CERN-OHL-W 2.0 is a weakly reciprocal open hardware licence: you may manufacture, study, modify, and distribute these designs and products based on them. If you manufacture products based on these designs and make modifications to the hardware, you must make those modifications available under the CERN-OHL-W 2.0. Firmware is separately licensed under Apache 2.0.
Category: Other Robots
| Item | Qty | Notes | | :---------------------------------------------------------- | :---- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | 10mm OD 50cm L ABS tube | 1 | [Link](https://www.aliexpress.us/item/3256804916904509.html?spm=a2g0o.order_list.order_list_main.53.14601802AQlaQt&gatewayAdapt=glo2usa) | | 10x15x4 bearing | 2 | [Link](https://www.aliexpress.us/item/3256806800422923.html?spm=a2g0o.order_list.order_list_main.59.14601802AQlaQt&gatewayAdapt=glo2usa) | | 12 pins of straight 2.54 header | 1 | | | 14x14x6 heatsink | 3 | [Link](https://www.aliexpress.us/item/3256801873418903.html?spm=a2g0o.order_list.order_list_main.5.56591802nNBwWL&gatewayAdapt=glo2usa) | | 2 line 5A slip ring 22mm src-22-0205a | 1 | [Link](https://www.aliexpress.us/item/3256802527929967.html?spm=a2g0o.order_list.order_list_main.23.3fcf1802tAHweu&gatewayAdapt=glo2usa) | | 24V 5A power supply | 2 | [Link](https://www.amazon.com/dp/B0DK2RXV6W?ref_=ppx_hzsearch_conn_dt_b_fed_asin_title_1) | | 2m DC extension cable | 2 | [Link](https://www.aliexpress.us/item/3256806419972530.html?spm=a2g0o.order_list.order_list_main.17.34d91802JGOxnW&gatewayAdapt=glo2usa) | | 2p JST sh cable 15cm tails for pressure sense | 1 | | | 3/8 \* 7/8 stainless steel washer 1mm thickness | 3 | [Link](https://www.amazon.com/dp/B0CS9PZZQS?ref_=ppx_hzsearch_conn_dt_b_fed_asin_title_7) | | 30x30x7mm fan with 15cm JST PH plug | 3 | [Link](https://www.amazon.com/dp/B0GFMBV1GG?ref_=ppx_hzsearch_conn_dt_b_fed_asin_title_1&th=1) | | 32 GB microsd card | 3 | [Link](amazon.com/dp/B09WW69YRD?ref_=ppx_hzsearch_conn_dt_b_fed_asin_title_2) | | 40 pin double row socket | 2 | [Link](https://www.digikey.com/en/products/detail/w%C3%BCrth-elektronik/61304021821/16608657?s=N4IgTCBcDaKHAEB2AzGAtANgIxIAwBYcxMAOI1AOQBE4QBdAXyA) | | 4p stemma to 2.54 pitch cable 10cm | 1 | | | 4x13x5 bearing 624ZZ (PGN Bearings) | 3 | [Link](https://www.ebay.com/itm/303360062505?_skw=624-ZZ+bearing&itmmeta=01JSVTGBC6HWXE3VE8BEDHVMYQ&hash=item46a1ab3429:g:lLUAAOSwnZ5n7F~D&itmprp=enc%3AAQAKAAAA0FkggFvd1GGDu0w3yXCmi1eyfrgbmnKclr3TaPJKgTlnARLsrzwv%2BnbGvoA6MPWxg8%2ByzLcJatKTgLue9YYB4ys%2B2OtYL5cw4jyZHV7gGXYYDXvbVE481jsKrYmyefXoG9x1WJNvT3jkJPMTgcWGxTZtVVzMANaSZBQ%2BhhHWTC8pFJtdqkHL6UQci%2FXF7jrvvGH36aEJlmIzdFBBJw6pyxr%2FezZDEhIgwO%2BqLc1hPYL3lakedQtHtAGit4pLsBlSANVLtuhtqhpUY2RgezTQmmY%3D%7Ctkp%3ABlBMUJ62wfrOZQ) | | 50lb braided fishing line (meters) super 8 slick v2 | 21 | [Link](https://www.basspro.com/p/powerpro-super-8-slick-v2-braided-line) | | Alconite Rings Size 20 | 2 | [Link](https://www.aliexpress.us/item/2251832722476734.html?spm=a2g0o.order_list.order_list_main.42.17dc1802fF6Xl7&gatewayAdapt=glo2usa) | | Box 20x14x6 | 1 | [Link](https://www.staples.com/20-x-14-x-6-32-ect-shipping-boxes-25-bundle-cw57294/product_426345?cid=EM:ordconfrm::sku&) | | Custom Gripper Hat with IMU (JLPCB) | 1 | | | DAMIAO DM-H6215 Brushless DC Hub Motor with Built-in Driver | 4 | [Link](https://store.foxtech.com/damiao-dm-h6215-brushless-dc-hub-motor-with-built-in-driver/) | | FEP shielded hybrid control cable 2 core | 7 | | | Force Sensing resistor FSR1610251 | 1 | [Link](https://www.alibaba.com/product-detail/ZOPRO-FSR1610251-Resistive-Film-Pressure-Sensor_1601603147528.html?spm=a2700.prosearch.normal_offer.d_title.241a67afDZXVLY&selectedCarrierCode=SEMI_MANAGED_STANDARD%40%40STANDARD&priceId=390c483658b34d61bc0a7080ac75806d) | | M2.5x16 | 3 | | | M2.5x18 screw | 4 | [Link](https://www.aliexpress.us/item/3256809788150602.html?spm=a2g0o.order_list.order_list_main.11.11df1802tB51wF&gatewayAdapt=glo2usa) | | M2.5x6 screw | 9 | | | M2x4 screw | 8 | [Link](https://www.aliexpress.us/item/2251832624537980.html?spm=a2g0o.order_detail.order_detail_item.5.7f0ff19cZzeTnG&gatewayAdapt=glo2usa) | | M3 lock nut | 6 | | | M3 washer | 6 | | | M3x14 screw | 4 | | | M3x25 screw | 6 | | | M3x6 screw with countersunk head | 1 | | | M3x8 screw | 28 | [Link](https://www.aliexpress.us/item/2251832624537980.html?spm=a2g0o.order_detail.order_detail_item.5.3f8cf19csDdQAC&gatewayAdapt=glo2usa) | | M4 washer | 8 | | | M4x12 screw | 4 | [Link](https://www.aliexpress.us/item/2251832624537980.html?spm=a2g0o.order_detail.order_detail_item.3.3f8cf19csDdQAC&gatewayAdapt=glo2usa) | | Raspberry Pi Camera Module 3 Normal | 2 | [Link](https://www.pishop.us/product/raspberry-pi-camera-module-3/) | | Raspberry Pi Camera Module 3 Wide | 1 | [Link](https://www.pishop.us/product/raspberry-pi-camera-module-3-wide) | | **Raspberry Pi Zero 2W** | **3** | One per robot component; [Link 1](https://www.pishop.us/product/raspberry-pi-zero-2-w), [Link 2](https://www.pishop.us/product/raspberry-pi-zero-2w-with-headers/) | | STS3215 smart servo | 2 | [Link](https://www.aliexpress.us/item/3256809426500120.html) | | Solder seal wire connectors (white) 26-24 AWG | 4 | [Link](https://www.amazon.com/dp/B0CL1Q75VS?ref_=ppx_hzsearch_conn_dt_b_fed_asin_title_2&th=1) | | custom stringman anchor hat | 2 | [Link](https://neufangled.com/actuator-hat) | | fingerboard grip tape (peices) | 4 | [Link](https://www.aliexpress.us/item/3256809579268740.html?spm=a2g0o.order_list.order_list_main.5.3be718027YM2kw&gatewayAdapt=glo2usa) | | flexible 2 core 26 awg with jst zh 2p male at both ends | 0.5 | [Link](https://message.alibaba.com/message/messenger.htm?...) | | laser rangefinder TOF400C-VL53L1 | 1 | [Link](https://www.aliexpress.us/item/3256806398281176.html?spm=a2g0o.order_list.order_list_main.52.79681802nU8bdd&gatewayAdapt=glo2usa) | | rpi zero ribbon cable 4cm | 2 | [Link](https://www.aliexpress.us/item/3256807477658584.html?spm=a2g0o.order_list.order_list_main.60.61d21802yuSmdA&gatewayAdapt=glo2usa) | | rpi zero ribbon cable 8cm | 1 | [Link](https://www.aliexpress.us/item/3256804177412140.html) | | sheet of sticker paper | 1 | [Link](https://www.amazon.com/dp/B092444Z49?th=1) | | small carabiner | 4 | [Link](https://www.amazon.com/dp/B0B8VJ2MWD) |