Palletizing Robot Arm (3DOF, 50cm reach, 125g lift)

by i-make-robots, published

Palletizing Robot Arm (3DOF, 50cm reach, 125g lift) by i-make-robots Mar 24, 2014
0 Share
Download All Files

Thing Apps Enabled

Order This Printed View All Apps


Liked By

View All

Give a Shout Out

If you print this Thing and display it in public proudly give attribution by printing and displaying this tag.

Print Thing Tag

Thing Statistics

23691Views 7773Downloads Found in Robotics


For more of my creations, please visit Marginally Clever.
This robot is currently in a contest and needs your support to win. Please upvote it!
Based ABB 460 Palletizing robot, this machine uses parallelograms to keep the finger tip level with the floor at all times. Three NEMA17 stepper motors move the arm. Limit switches help it find home position. In this first version I'm using 2x Adafruit Motor Shield v2 and an Arduino UNO for the brain, which I've taught to understand GCODE and Inverse Kinematics.
If you can't make the parts yourself, I can make you a set of parts.
I will be releasing bigger and better robot arms throughout the year and I'll do my best to keep them open source and open hardware. I want to do for robot arms what MakerBot has done for 3D printing, minus the controversy.

2013-01-02: improved the design for ease of assembly and maintenance. Also mounted the circuit board to clean up the wire routing.
2015-12-15: Removed links to buy sets of parts. Not offering this particular kit any more.
2016-06-23: Added missing tendon.dxf
2016-12-14: updated with new link to assembly and programming instructions.

Print Settings

Printer Brand:



Prusa 2










You'll have to clean out the 5mm holes, they print ~0.3mm too small on my printer.


All DXF files are in centimeters. The STL are in millimeters.
bom.csv should list all the parts you need. I added column to show which items should be 3d printed, laser cut, or bought off the shelf. I can offer you a complete kit of parts if that's too complicated.
Bicep-a and the shoulder joint connectors (part 38 and 39) should be cut from 4.6mm thick material (commonly sold as 1/4" birch ply). All other DXF files can be cut from 1/8" birch or oak ply
More information and the source code.
Exploded diagrams and tips

More from Robotics

view more

File Name



All Apps

3D Print your file with 3D Hubs, the world’s largest online marketplace for 3D printing services.

App Info Launch App

Auto-magically prepare your 3D models for 3D printing. A cloud based 3D models Preparing and Healing solution for 3D Printing, MakePrintable provides features for model repairing, wall thickness...

App Info Launch App

Kiri:Moto is an integrated cloud-based slicer and tool-path generator for 3D Printing, CAM / CNC and Laser cutting. *** 3D printing mode provides model slicing and GCode output using built-in...

App Info Launch App
KiriMoto Thing App

With 3D Slash, you can edit 3d models like a stonecutter. A unique interface: as fun as a building game! The perfect tool for non-designers and children to create in 3D.

App Info Launch App

Print through a distributed network of 3D printing enthusiasts from across the US, at a fraction of the cost of the competitors. We want to change the world for the better through technology, an...

App Info Launch App

Quickly Scale, Mirror or Cut your 3D Models

App Info Launch App

3D Print a wide range of designs with Treatstock. Easy to use tools to get the perfect result. The global 3D printing network that connects you with high-quality and fast working print services nea...

App Info Launch App

Do you need a 3D printed pen holder? That was the major thing about this video that looked off. Good job with the design and stepper control! So can we use it as a 3D printer?

I tried a 3d printed pen holder before publishing. Wasn't as good. Maybe it just needed tweaking. I find laser cutting is always faster and therefore cheaper.

In theory it could be used as a 3d printer. Certainly the control board supports an extruder, bed, and nozzles. It would take some experimenting to improve the feed rate and repeatable accuracy. I'd love to see it happen!

You might also enjoy http://www.thingiverse.com/thing:360108http://www.thingiverse.com/thi... [added as a cross link from your comment on v0.3 ;)]

MeArm V0.4 - Pocket Sized Robot Arm

This robot is part of the Hackaday "Build the Future" contest.http://hackaday.io/project/945... and needs your support to win. Please upvote it!

Updated the design files this morning to increase ease of assembly and maintenance. Exploded assembly diagrams coming soon.

Ok now I know what I am doing this weekend

This is awesome! Keep up the great work.