uStepper Robot Arm Rev. 3

by nic6911, published

uStepper Robot Arm Rev. 3 by nic6911 Sep 16, 2016


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21826Views 2127Downloads Found in Engineering


This is the 3rd iteration of my Robot Arm design for the uStepper. A great deal of changes has been made, and a lot of effort has been put into the instruction manual (for assembly).
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All the STL files and the instructions are available at our github repo: https://github.com/uStepper/uStepper-RobotArm-Rev3

We also offer the arm as a kit on http://www.ustepper.com/shop

New video showing a bit more about the arm and how to use it:

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Some of the parts require support, but most doesn't by design. 25% infill seems to give adequate robustness to the design.

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It's really a great project!

I think I have all the elements.

but what is the internal diameter of the tubes

and what is the type of servo 9G?

Best regard

Comments deleted.

Hi, Super magnifico. I want to make one to move a 3D Scanner that weight a kilo.
For this I need only 3 axis.
Do you think it is going to make it ?
Low speed is ok.

Hi, Awesome model. I was planning on making this with some spare steppers I have lying around...unfortunatly the motor I have have 4 mm D shafts. Can the small gears be edited to support smaller shafts? or will it be possible to post the cad files on github so I can edit them myselft? Thanks!

I made the ustepper with some modifications.
The 3 drives with timing belts instead of gears
The main arm with two (2) bearings with a bushing in between, which increased the accuracy and the stiffness a lot.
The three (3) main joints with bushings (8.1mm) in between the bearings to ease and increase the mounting force.
An axial bearing 50/70mm at the bottom.
Home switches on all the three (3) axes.
For the time being I control the arm with Ramps1.4 and with Repetier host.
Next thing is to alter the Repetier soft or to develop my own software and to find a task for the thing.
Thanks a lot for the inspiration.
Best regards,


Can you share me the step file of uStepper Robot , i need to modify hole and some part to fix with my printer because some hole small after printed

My email : [email protected]

thank you very much

Have a nice day

I'm sorry,
I made the uStepper, but only tested it functional with Repetier printer soft and have not found any application for the thing.
Best regards,

hi, can you share me the ustepper with some modifications , i can't edit slt file

Herewith 2 photo's of the thing.
I'll do my best to find the .STL files. I'm not so organized, so it will take some time.
The changed parts I made with AutoCad and the sprockets with OpenSCAD.
Please tell me if you are still interested after you have seen the pictures.

Thx for sharing. I make one, it's awsome. I still haven't got the motor. Still learning what motor avail in my country, and how to modified the code for mega 2560.
Thank you very much again for sharing

have someone informations for better software to controll the robotic arm in cartesian system or other systems with g-code?
I worked with pronterface and I think it is possible to controlle the position of the stepper but than I need some program to set the angles for the stepmotors for the positions. This will be extra work. I hope you understand my question.

Best regards

Do you give the site address where you can download the urobot parts
thank you

It is very cool thing, i'd like to make it, thank a lot for your design, but I can't understand what arduino boards you used in it. I'll be happy, if i get reply on this question.

Hi! I use uStepper boards from www.ustepper.com - which I am one of the authors of. But you can use regular stepper drivers and your preferred control board.

Is this easily scaled? Larger form factor with Nema 23's?

It may be scaled, but it will take some work...

3 Questions:
1) Is there a kit available with everything except the 3D printed parts?
2) Is there a website to purchase that kit in USD?
3) Is sales tax in Denmark really 25%????

We will make a kit without the printed parts available shortly.
The prices on our webshop is in euro, but is that a major problem?
Yes we pay 25% sales tax and almost 50% income tax in Denmark... But if you order from outside of the European Union, the sales tax does not apply to you. Inside the Union you will need a valid VAT number (i.e. being a company) to avoid the sales tax..

To make sure I see what you write, please drop me a mail at mogens at ustepper.com

Comments deleted.

This is great! Can i make it work with an arduino mega and a Ramps 1.4 ?

The Arm itself can work with any driver that suits a Nema17 stepper motor. The uStepper control board can be controlled through any 3D printer controller like Ramps or CNC like GRBL by connecting it like this: http://www.ustepper.com/wp-content/uploads/2016/10/connection.png

And using the Drop-in function of uStepper (which takes just a single line of Arduino code to setup) for closed loop PID control of the axes.

This is awsome Like, Like, Like. :)

Realy good design : simple and efficient ... what else ?

This is an awesome and simple design, I have been wanting to build one for sometime; I have finally took the time and started printed the parts, motors and tubing are on order. I plan to use carbon fiber; this day in time carbon fiber is cheaper than aluminum. On a side note, this is for my mobile robot platform.

Thanks for your work and sharing your design, my results, I will post as soon as I am finished. Also, I will be using standard steppers until I can order uSteppers, which are pretty darn cool.

Nice work is the pcb and electronics only sell or we can make it by my Self ? Very insterested by the learning mouvement protocol and how it work

The diagrams for the PCB are available at the github, so is the Arduino libraries with source code.

Cool i Will have à look Thanks

wow great work! GO ahead and share this in the Engineering group and Ill put it out front. :)

It should already be in there? :)