by daGHIZmo, published

EEZYbotARM by daGHIZmo Sep 21, 2015

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This is a 3D printed robotic arm

The intent was to design something "easy" and cheap to built with a good visual impact also.

Test video: https://youtu.be/qovZKW0DxWk

I spent time to look around the web at some examples available that could be a good starting from, and between all I found interesting the phenoptix MeArm V4 project (http://www.thingiverse.com/thing:360108) especially for the simplicity and low cost of parts involved.
So I kept only the kinematics geometry and redesign all parts including the gripper

updated instruction and round ramp stl (R01), added ball stl
preliminary tests video

updated gripper r01 files

added instructables link in instruction


I made an Instructables here : http://www.instructables.com/id/EEZYbotARM/

In all joint I use M4 screws with round head
For the vertical arm I prefer to guarantee a better precision using two brass pipes. the lower one stay in position kept by the servos, the upper one is crossed by a M3 screw (I'll post a better explaining image)

First tests has been made with cheap servo sg90

than I changed the more stressed with metal gear servos MG90
only for the claw I left the plastic one (but this can be of your choice)

For driving the bot I made a lot of experiment using all the available method with arduino : sketches, potentiometers, joystick, WII nunchuck …. but at the end I discover a nice controller from Pololu that solves all the problem related to the servo driving in the easiest way. You can attach up to 6 – 12 – 24 servos depend of the controller type and it is provided with a software that give you the power to drive the servo in manual moving slides in the mean time you are able to set the values of speed and acceleration for any singular item. You can also build sequences of commands in a easy way, store them in the controller o get the code automatically. GREAT !

here the link of the Pololu servo controller

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Does anyone know if I can print all the screws?

Can anybode tell me why the driven gear of the servo horn keeps falling out? it's the part on the gripper and its very loose..

Hey,I have printed the robot.But my printer has a problem.
The aperture is too small. I can't install the robot very well.
I want the drawings from SolidWorks to personally parts from you because the file extensions are .STL. I am a student too, please help me. email adress:[email protected]

I get errors on SolidWorks while taking measurements of the parts. I want the drawings from SolidWorks to personally parts from you because the file extensions are .STL. I am a student, please help me. email adress: [email protected]

Hey, I have printed the robotic components.Now I'm facing an issue while assembling the components.
I cannot screw two servo motors which is responsible for providing the motion of the bot.
I can screw and fix one of the servo but i cant attach the other as I cant user the screw driver from he other side (there is no space to insert the tool)
Please do reply soon and assist me..
email: [email protected]

Does anyone have a urdf file for this?

I'm interested to try to make this with my son, how do you print these parts? feedback please! :)

Nice job I was wondering if I just print one of each files is that correct??

Using Maestro to control the servos, the arm will complete a task of dropping off the ball about 8 times before the movement gets sloppy.
I touch the servos and they are very warm.

Am I missing something somewhere to disable the servos in between cycles or better yet, what type of power supply are you guys using?
I am using 5v @ 2amp, maybe it is too much?

You would have a claw of three/dedos tweezers to replace MK's claw?

i printed, and built this arm with my 5 year old son to show him some basic principals of electronics, motion, robotics, and of course 3d printing.

i used a teensy2.0 i had laying around as the MCU and added a couple joysticks for the manual control.

now my boy says we should build a body, and attach the arm to the body - and have a "big wobot" in his words.

so thanks man, thanks for your work on the arm, uploading the design, and your effort to share this project.

it blew a little boy's mind.

whoever is interested in code to run this arm on a teensy2, here ya go. my build uses 3 pins, for 4 motors. 2 motors share a pin. probably not great, but it does work. i use 4 pins for 2 joysticks, and code refers to them as potentiometers.

i didn't write this, i found a couple different sources and combined them - note the "include servo.h" for some reason gets identified as HTML code so disregard a giant bold faced word INCLUDE. OK? great!


Servo myservo1;
Servo myservo2;
Servo myservo3;

int potpin1 = 15;
int potpin2 = 16;
int potpin3 = 17;
int potpin4 = 18;
int val1;
int val2;
int val3;

void setup()
void loop() {
val1 = analogRead(potpin1);
val1 = map(val1, 0, 1023, 0, 180);

val2 = analogRead(potpin2);
val2 = map(val2, 0, 1023, 0, 180);

val3 = analogRead(potpin3);
val3 = map(val3, 0, 1023, 0, 180);


ciao =) complimenti è bellissimo. Da poco ho preso una stampante 3D. Devo ancora capire quando mettere i supporti per le stampe e quando no. Secondo voi per stampare tutti i pezzi mi conviene mettere i supporti oppure stampare cosi come sono? grazie mille

Tutti i componenti sono correttamente orientati per essere stampati senza supporti.

Is there a model of the arm that is fully assembled? I am trying to make some changes to the model but i can not get the STL to be edited into anything i can modify

I'm powering the whole thing usb via an Arduino nano. the base is big enough you can fit the control board inside and have a neat looking self contained unit.

Comments deleted.

I tried using an Arduino nano and an XD-212 expansion board but couldn't make the servos work. Bluetooth is working and i tried using 5v and 8v... Im sure it has enough power because I used the same components with another robot and it worked. Am I doing something wrong?

Nice design! I can't wait to make it work!

So my printer can print up to 4" square. Will this fit or do I need to do some major re-scaling?

Ok, printed all parts full scale on my XY-100. Getting hardware around for assembly.

Hi, I was wondering if you potentially had the sldprt files. I was more interested if you could upload them as well. Thanks for your time!

Hi man! Sorry I have troubles to build the gripper, would you help me please with an image or something where I could see the way to build it?
Thanks man!

where can I find the program (software) to control it

I controlled the arm with littlebits.

depends on how & with what you want to control it

...I wrote on mk2:
Mainly depends if you want to freely move it or make it repeat a loop.
I found easy using a Pololu Mini Maestro card that doesn't requires writing any code.
here the link of the Pololu servo controller:
the loop in video has been made using this controller



or you can use:

where can I find the program (software) to control it

same reply for MOZERTAT

where can I find the program (software) to control it

I will work with such a nice design

its makes me think of robotic arms that there are in the game Factorio

:D yeah you are right

Hi, can anyone help me add a name to the base file?


First of all, congrats with such a nice design ! Keep up the good work ! (I also like your Delta Bot)
I want to use your EEZYbotARM in a clock-design with balls.
However, I want to have the grabber itself in a downward position, instead of a forward position (like in the Delta Bot).
Can you please send me the source-file of "EBA_01.00.012_R01_claw_support" ? (Iges/Step/Solidworks, it doesn't matter)
Or maybe you can change the position of the claw support for horizontal to vertical and add is as an STL to your project ?

Thank you,
best regards from Belgium,

Well, it looks great. The viedos are really good as well. That is probably what made me print it.

Printed great. However the instructions suck. Like there isn't any. Link to indistructable leads to more promotional stuff, but no real instructions from what I can tell. I can't figure out what screws I should be using. I don't have that micro controller, and I don't see any software. What gives? Am I missing something? If so, what and where. I've found better robot arms, that use an arduino, and are actively being developed. I'll be moving my servos to one of those I think.

Wow awesome project! I'm keen to try it.

As you use a separate board: Is it also possible to provide the necessary current directly from an adruino board? Or should I use a separate power supply?


You could go either. I am currently printing the parts now and I was thinking about that. I decided to use another external source.

Best of luck!

better a separate supply

Bellissimo progetto, complimenti!
Quale è l'unità di misura dei file .STL, mm oppure cm.?

Great project. Well designed. Maestro controller is the way to go. First set it up with an Arduino while waiting for the Maestro controller to come in the mail. Thanks!

Hello would you mind sharing you arduino files?

Looks really good! Can you give us an aproximate radius of action? Thanks!

Is it possible to use arduino nano/micro with this arm? Will the code work, or is easy to find? Because I have few of them and don't want to buy another microcontroller :/

Ah, you could use a nano for sure.. You need 4 servos is all and the nano has plenty of pin for that. Specifically, it has 6 hardware pwm pins; not to mention all of them you could use with software pwm.

I haven't tried it yet, but I would bet anything that you could probably just use the MeARM arduino codes for this arm. Even though the design is super clean and has been optimized for 3d printing, it's functions seem identical.. So give that a shot!

I'll be doing the same here in a bit. I'm also going to probably try using a DigiSpark also.. But probably not for a bit. I'm pretty certain the servo libraries don't quite work the same... With that in mind, it might be a pain to get it working.

"What is my purpose?"
"You pass butter."

"Oh my god...."

buenas tardes,
no tengo cuenta en instructables... sera que alguien me puede hacer el favor de compartir los archivos para poder ver la parte elecronica??
[email protected]

Hi, Can you make a big draw sheet for this? so i can cut it out of wood? That would be nice!

I design this to be expressly obtained from a 3Dprinter. If you prefer to make it from a sheet of wood or acrylic it is better to follow Phenoptix MeArm http://www.thingiverse.com/thing:360108 or even Jazzmyn Remix MeArm http://www.thingiverse.com/thing:499654

MeArm V0.4 - Pocket Sized Robot Arm
Remix "meArm" Bigger, Stronger, Longer
by Jazzmyn

You should use servos with position controllers instead of stepper motors, it will give it a much higher holding torque and a smoother travel.

Thanks for the info.... but could you suggest any ?

Unfortunately not for hobbyists. I work in industry, the motors I would recommend would be several hundred dollars minimum and much bigger than this arm. However, I am hoping to make a homemade arm which is bigger than this sometime soon. Like, a meter tall or so. I'll let you know if I find anything cheap.

Anyway, a 1/2HP 120V AC 3-Phase Motor could handle just about anything for about $100, and then you could use gears and pulleys to control which axis it was driving.

It's name is eezy just because is the smallest bot arm with the cheapest servo available. For sure a bigger size requires something different (less easy!)


Do you have SolidWorks or IGES files

What was the fill u used when printing each piece.


Usually I use a 3 wall and a 25% infill

Hallo, habe an Achse 3 noch 2 Messing-Teile Durchmesser 25x10 angebracht, Somit wird das Gewicht vorn vom Greifer ausgeglichen und das ganze läuft ruhiger und ruckfreier.
Damit Achse 1 besser läuft hab ich zusätzlich ein Kugellager eingebaut um das ganze zu stabilisieren
Wo kann ich dir Bilder senden?
Ist wirklich ein super Teil dieser Arm .I like it.

Gruß Matthias

compliments I thought about adding a spring but not a counterweight. I thought also to add spheres but I was confident that they were not necessary due to the low weight acting on the vertical axis and I did not want to further complicate the construction


where can I find/buy the brass pipes?

I bought them in a local hardware store (in Italy) but this doesn't matter, it's not mandatory, also different material or tipe of pins, also a cutted screw can do the job

thx very much. I am also very interested to make one of your GREAT arm.

and gathering the screws these days

for brass pipe , u may visit

and cut it to your length

Great design! What program did you use to model it? Would it be possible to get the source files? I like customizing parts before I print them with my Prusa i3, and the stl format makes this difficult. If not, I understand.

Keep up the good work!

I really like your 4-Bar arm, simple yet sturdy. If you don't mind, i'll remix it with a different base, gripper, and a camera mount. Looks like you used SolidWorks, but if it's possible to get the drawings for the top servo mount and grippers, I would greatly appreciate it. Thanks! Keep up the good work

WOW..... mi era proprio sfuggito che era il tuo questo lavoro....... bellissimo...... complimenti...... "mi fai venire l'acquolina in bocca"..... ;-)

ebbene si .... in effetti qesto sarebbe uno studio perchè vorrei farne uno un pò più grandino e performante in termini di payload con degli stepper. Se la tipologia interessa, sto per terminare anche un'altro robottino questa volta tipo "spider" delta ....

Great job! I'm curious if you can improve smoothness of the arm's motion by balancing the weight induced torque on the servos. For example, add some springs to offset the tendency for a linkage to droop due to its own weight. Then the driving torque would be more balanced for + and - moves on any given axis.

for sure this could be a good way. Also I consider adding spring to help servos in position too out of balance. But this was my first impression then, thinkin better, it is clear that the servo wich have more problem is the vertical rotation axis when is in his rest position with virtually no charge, so the holding torque produce spikes that alternately moves the sevo in two opposite direction trying to keep it centerd
One test could be reducing drammatically the acceleartion value and the other, with the axis in a steady position,try to manually charge it in one direction. If the second works, problem would be how to charge with a spring the vertcal axis

Is there any way you could upload a version of this with the majority of similar thickness parts being 3mm thick instead of various thicknesses? That way we could all laser cut more parts of it :) great project man!

if you prefer to use laser cutted parts then is better start with the MeArm V04 http://www.thingiverse.com/thing:360108

MeArm V0.4 - Pocket Sized Robot Arm

Good work! I want to know is there any algorithm to make a stable move of the arm with the factory Pololu? Or you need to write the parameters to control it?

I have a Kinect controlled arm here:
I wrote the firmware, but it seems not very stable when I move it, I want to know if I can improve it by using this Pololu.

Kinect Controlled Arm Robot
by intijk

I'm impressed by your work also, when I get time I would like to try using Kinet .
Unfortunately I got a mechanical background so I can't help about softwares and firmwares.
My conclusion is that doesn't depend all from the control board or firmware, but mainly is due to the fact that 9g servo are a little weak for the job. So when they're in rest position some spikes in the hold torque make them shaking. I try MG90 also that are a little stonger but not enought, and inevitably performance decay making the more overstressed begin to shake (on my robot arm appen on the vertical axis)
Unfortunately use stronger servos involve more costs, weight and space.

Thank you for your reply, if the servo strength is the case, I think it even better, that means I don't need to change the code, let me try this MG90 or more stronger servos :)

Comments deleted.

Have you thought on using steppers and a hotend? Would print super quick

What are you using for Servo Motors?

first test were made with very cheap SG90 servos, than I switched on Tower Pro MG90S leaving SG90 only for the claw.
This construction is a litlle heavier than meArm so MG90 (metal gear) are preferable because more resistant

This is sweet! A scaled up version of this with stepper motors would be so awesome!!! keep up the good work.

i'm looking forward for a new scaled up version with stepper motors, but i would like to use a complete different kinematics geometry

How large is the largest printed part?

everything fits comfortably in the print area of my Prusai3 (200x200x200) Anyway the biggest part are: the basement that has the fixing plate diameter of 95 mm, the horizontal arm that is 126 mm long and the circular ramp with a diameter of 115mm and an height of 112 mm

I am using M3D printer which has Base Print Area: 109mm x 113mm so I will need to print the horizontal arm on a diagonal and not be able to print the ramp.

I'm going to try printing this on my TRONXY-100. It is 120x120x120. Did you print this and if so did it come out ok?


How do you like the M3D machine? I have been bouncing around buying one but need so real feedback.

it is a great first printer, the drawbacks are small print area and not heated print bed. there are ways around each which require you to learn more and different software. I got mine at $400 for the printer and 2 spools so was a goodprice point but for $200 more I could have gotten both a bigger print bed and heated bed. I am not sorry I got this one at all.

ramp is a gadget!, you can make it in any other way with other materials or it can be cut in two pieces by the slicing software

im thinking about making 2 arms one to load a DVD duplicator and one to remove the DVDS

that sounds a really cool aplication of this great idea.
I sugest you to modificate it to keep the servos wires inside the "tubes" of the arms, to make it look more clean and professional :)