Robot Arm For AX-12A Dynamixel Actuators

by WebmasterZero, published

Robot Arm For AX-12A Dynamixel Actuators by WebmasterZero Oct 21, 2013
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This is a 6 degree of freedom robot arm designed for AX-12A Dynamixel robot actuators. It's similar to the turtle bot arm.


Things you will need.

6 AX-12A Dynamixel actuators

1 ArbotiX-M Robocontroler

You also need six Dynamixel 3 pin cables.

1 100mm cable

5 200mm cables

I purchased these from Trossen robotics, the assembly guide for their robot arm Phantom X Pincher
is a good resource as my arm is similar in design.

You will need a thrust bearing 35mm x 52mm x 4mm Needle Roller Bearing Thrust Ball Bearing AXK3552

You can buy these off e-bay pretty cheaply.

You will also need to get your hands on some RC car wheel bearings the arm uses three, 1 in the elbow 1 in the wrist and 1 in the shoulder joint.

measurements of these are 5x11x4mm you should also be able to purchase these pretty easily on e-Bay.

Nuts and bolts,

I've added some extras because it is very easy to lose these tiny screws.

40 M2 x 8

12 M2 x 10

4 M3 x 10

40 M2 nuts

Of the 3-D printed parts

You will need to print one of each of the following


You will need to print 2 of each of the following


You will need to print 3


Most hobbyist 3-D printers should be up to the task.

You will probably need a file or something to make sure all the parts fit as intended.

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What CAD program did you use to make this model? Is the pk2 file the 3D model file? Thanks!

I think it was Creo Elements http://www.ptc.com/cad/elements-direct/modeling/express

However I'm not completely sure if it's a Creo Elements native file type or something else I don't remember, it could an archive of some sort.

ok cool thanks can i get more pic of the base to see how to put together

ok cool thanks can i get more pic of the base to see how to put together

where do i get the code for this thanks mate

Unfortunately I have not done any more work on this robot arm for ages. The arm is designed to be used with ROS (Robot Operating System). It is based off the turtle bot arm. I can give you a couple of links. I hope this helps.



Hi, Can you please give some information about the wiring or code?
Thank you

Great work on the arm! I was wondering if you'd mind uploading your original CAD files? I'm trying to make a 6 dof version of the arm and need slightly longer wrist brackets.


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