Hey! This thing is still a Work in Progress. Files, instructions, and other stuff might change!

Printable Robot Arm

by 4ndreas, published

Printable Robot Arm by 4ndreas Dec 13, 2014


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75016Views 11014Downloads Found in Robotics


This is my first try to build a printable robot arm.
I was inspired by the demo of zortrax, but it's my own design.

It is not tested yet, I'm still printing.
It should fit together but.
There are 8 608zz ball bearing required to mount the arms.
2x M8x60mm and 2x M8x65mm screws and 4 Nuts (best case self locking)

The main motors are Nema17, for the forearm I plan to use a Nema11 with a planetary gear.

The screws to mout the parts together are M4

REMEMBER THIS is untested! The forearm and gripper are also not finished yet.

first test of the basis with the first joint:

I updated some files... most should fit now, but still a work in progress.

all parts are printed:

The second part:

I started a hackaday project:

You can find a overview on my blog:

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Hello, I do not see files with orange overlays, can I ask you to send them an email ?? [email protected]

Witam, jaki filament został użyty do wydruku?? ABS czy PLA ??

hello i have change the main engine by a nema 23 and it's running a lot better couple jumbo

I have built the complete robot arm, but do not have time to finish wiring it up. Anyone interested in taking it off my hands and completing it?

Somebody interest in scalin this arm down to a third or something? Would love to build a small version of it...


there are two different versions but one stl file for forearm. would you please upload the latest version of stl files?

Hello, I want built robot arm to small camera. Do you have software with GUI for controlling robot arm with arduino? Thanks!

Hallo Andreas, ist dein roboter komplett? Ich folge dir shon eine kleine weile und würde gerne bald anfangen dein Roboter arm zu drucken. Würde mich freuen wenn du mir die files von dein jetzigen Modell teilen könntest.

Hi 4ndreas, I have already print this version but I can't find the litle orange covers for this version. I have looked in Github but no chance for me. can you share it? thank you.

Hello, I do not see files with orange overlays, can I ask you to send them an email ?? [email protected]

Great and robust one !!! I definitelly start to build it now :-)
(My InMoov hand project is also in progress, like yours :-), I have already printed it all - so I can start something new :-) )

1) Have you based your design on Zortrax arm ? Those model is very sexy but definitelly useless and not robust (gears are very thin, holes are not well designed, the ending arm is without the actual grab bechanism)

2) I found some thingverse personalizer to build more robust gears. I find it great, http://www.thingiverse.com/thing:1339

OpenSCAD Helical Gears


What type of gear do you use, is it possible to customize them?

i need to add some more teeth and make it a bit longer


Ich bin gerade dabei, die ersten Teile deines Arms V4 zu drucken - verkleinert, weil ich einen kleineren Drucker hab.
Ich halte mich dabei an die Autodesk A360-ansicht. Kannst du mir sagen, welche Baugruppen aus welchen Versionen du da verwendet hast?
Ich plane übrigens, NEMA-8 (20mm Außen)-Motoren zu verwenden, und selbst eine Steuerung zu bauen.

Was hast du für einen Drucker? Würde gerne eine kleinere Version auf nem kossel mini drucken...

Einen M3D Micro, und die Ergebnisse sind Katastrophal. Das Projekt ist eingeschlafen bis ich einigermaßen brauchbare Teile raus krieg. Ehrlich, der Drucker ist so ungenau wie es mir irgendwie wird.

Hi my name is Marco, I'd like to know arduino's sketch. Are you so kind to show it to me? Best regard and thanks Marco

Nice design! Can you upload some Pictures of your printed parts?


I love this arm, but you do you assemble the arm?!

I love this design. Do you think this gearbox would do the trick? It says it can produce 666 oz in of torque.


That's well over 2Nm. This unit looks like it would hit right in almost no modification required. It would of course reduce the speed significantly. Let me know your thoughts. I'm thinking of giving it a try.

I will try this one:

and some AS5045 rotary encoders for positioning. For the next design I also plan to use timing belts instead the printed gears.

How about Hrringbone gears, ball bearings, end stops, pla parts and longer stepper motors?
I will definitely print it in some months.

I already use ball bearings (608zz 8x22x7). Hrringbonegears would cause alignment problems and currently also not necessary (just my experience) .
I personally don't like PLA, you can't rework it and also no acetone molding.

To the motors, and end stop. I'm working on rotary encoders for the arm and by replacing the steppers with more sutable motors. I played a little with the complete arm and the bottom motor needs at last 2Nm torque. I'm looking for alternatives. With the planed encoder I'm free to use any motor, no need for the inefficient steppers.
But thank you for your ideas and support.

I like this model very, very much. How can I help you in the development? I'm a software developer and make several projects using arduino & raspberry

I can also help with Arduino integration (already working on my PC)
I started to work with myrobotlab and leapmotion too.

p.s. do start the print this days :-), I have Nema17 motors for now (Moment 0,22 kg cm)

Currently I work on the mechanics. I let you know when the software part begins ;)

Really awesome!!!! Hope you get it finished soon.

hello a lot of people looking for exactly this arm
thank you for show us your work very nice