The impact of 3D printing on robotics is momentous, giving users the opportunity to build functional robot arms - hobbyists, educators and engineers can create their own working robot arms at a tiny fraction of the cost. Using inexpensive materials; filament plastic - PLA and PETG, off-the-shelf servos and steppers, and open-source controller products such as Arduino to put it all together, the benefits of the learning experience with respect to; control systems /mechatronics /kinematics in these robot arm projects is meaningful and very hands on.
Why 3D Print a robot
These projects stand out for their technical sophistication, innovative mechanics, or comprehensive guides, making them ideal for makers seeking deeper learning or advanced prototyping.
1. Compact Robot Arm (Arduino) - 3D Printed
Project URL: Link
Designed by Kelton on Printables, this beginner-friendly arm emphasizes compact design and clear documentation, perfect for educational settings or hobbyist experimentation.
Technical Specs, Features: This serves as a five degree-of-freedom (DoF) arm (four axes plus gripper) which is made of five servos; there is a high torque (20kg-cm similar to MG996R) servo for the base, three standard servos for joints and went micro-servo for the gripper. It is controlled using an Arduino either Uno or Leonardo (with a similar shields/servo driver module) and uses four potentiometers for manual control; the use of a push button for modes (manual and automatic) and an LED for status display in both modes. It is powered at 7V through the T-plugs; its reach is ~ 20–30 cm using the arm to pick up light objects (i.e. small toys). The arm is gear driven to help decrease friction and maintain smooth motion along its entire range.
Materials and Assembly: The instructions to build include connecting servos with extension wires, gripper using the micro servo and foam fingers, and putting the gears and servos into the forearm and main arm. A YouTube video has been uploaded and linked to show you how to do this for assembly purposes but the code upload and assembly of the controller will be in two separate video uploads.
Unique Features and Challenges:Small size and gear driven accuracy intrinsically minimize backlash making it ideal for learning about servo control. The challenges include somewhat fiddly wiring, and both servo calibration through the Arduino IDE, as well as servo setup and control in general. It is possible to have gear slippage if they are not secured properly, and payload is limited by battery and/or servo torque.
2. CyBot - 6 Axis Robot Arm with Cycloidal Gearbox
Project URL: Link
Hosted on Cults3D by quartit, CyBot is an in-progress project for advanced makers, featuring cycloidal gearbox actuators for high precision and torque.
Technical Spec and Features: This 6-DoF arm has yaw-roll configuration, utilizes NEMA17 steppers, has 3D Printed cycloidal gearboxes (20:1 reduction ratio max) with near-zero backlash and ~5Nm of torque per joint. It is controlled by a Regular Arduino (or ESP32, and ROS compatible), has a reach of 40-50cm, and can handle a payload of 500g-1kg. The cycloidal drive is illustrated as an eccentric shaft with a pin for compact power transmission.
Materials and Assembly: This assembly contains (twenty or more) STL/3MF parts (disks, housing, shafts), NEMA17 steppers (6 total), 608ZZ bearings, M3/M4 hardware, and PLA/PETG filaments. The assembly will consist of printing the gearboxes, attaching the steppers, and chaining the joints. An STL model and PDF guide for a free gripper are found in the download, with the guide emphasising the importance of alignment to avoid binding.
Unique Features and Challenges:The cycloidal gearbox is unique; it is more compact and less costly to build than harmonic drives and is suitable for examining gear theory. Due to the project being under construction, no software has been developed yet and there are no tolerances with 0.2mm layer height. Managing stepper noise and heat are also concerns. Overall, this project is most suitable for anyone looking to investigate advanced actuators.
3. 6DoF Robot Arm - Modular, Cheap, Educational
Project URL: Link
Sydaio’s Printables project prioritizes modularity and affordability, making it a top choice for teaching kinematics and robotics concepts.
Specifications & Properties: This arm is a six-used-of-freedom arm, with two servos for direct drive actuation, MG996R (~8€) and MG90S (~3€). The angles of the joints can roughly rotate 180° - 270°. The ESP8266 microcontroller (~5€) sends PWM signals to control the servos. Since there is low precision (no encoders), it can at least hold its own weight at the extended limits of the arms.
Materials and Construction: The modules are printed in PLA, with 20x32x7mm bearings, servos, and M3 screws. Each module comprises two parts, a bearing, a servo, and M3 screws that can be assembled together using M3x10 screws. The PDF has examples of configurations for custom kinematic chains.
Distinct Features and Challenges: The modularity allows reconfiguration, which is helpful for experiments with Jacobian matrices; therefore, this is also beneficial for instruction. The difficulties included the diminishing torque of the robot, jerky motion due to servo loops, and the robot useless for heavy load applications, however, a version two (V2)with 360° actuation is being planned and expected to overcome these issues.
Accessible and Established Designs
These projects are simpler, more affordable, or well-established in the maker community, ideal for beginners, educators, or those seeking reliable, cost-effective builds.
4. Robot ARM by Ruskomponen
Project URL: Link
This 6-axis arm (model RNV2) by Ruskomponen, available on Cults3D, is focused on ruggedness for tool applications.
Technical Specs and features: Servo based (ex: MG90S), 6 DoF, controlled by an Arduino, has a reach of ~30cm, light payload.
Materials and assembly: STL/RAR files include a base and forearms, uses servo motors and screws, assembly is inferred by the files, and consists of mounting the servos and fastening the joints.
Unique Features and Challenges: inexpensive and modular set up, however, assembly is difficult because each component does not have documentation. recommended for hobbyist, comfortable with low level instruction.
5. 6DoF Robot Arm by Skyentific
Project URL: Link
Skyentific's Printables design is a 6-axis arm optimized for precision and automation tasks.
Technical Specifications and Features: 0.2mm precision with 150g payload. Uses stepper motors controlled via arduino utilizing GitHub hosted code, and supports repeatability.
Materials and Assembly: Requires PETG printing (0.15mm layer height, 50% infill), stepper motors, and hardware from a proposed BOM in PDF. There are also multiple videos on YouTube explaining details for assembly, it is a complex build.
Unique Features and Challenges: The precision is incredible, also it is very advanced with a proposed 7DoF arm, assembly is a challenge that a beginner-would find difficult.
6. Easy Robot Arm (SG90 Servos & Steppers)
Project URL: Link
Mobiobi’s Printables project is gentler with swappable actuators.
Technical Specs and Features:Offers approximately 4 or 5 DoF using SG90 servo motors or 28BYJ-48 stepper motors with an Arduino microcontroller. The hot-swappable design offers a large degree of flexibility.
Materials and Assembly: The project uses 3D printed PLA parts (0.2 mm, 10% infill), servos / steppers, and elastic bands for damping. They have limited parts to make assembly easier.
Unique Features and Challenges: The chosen designs of the off-axis gripper and vibration damping system are unique. If there is a lot of mass in the print or heavier material, the torque can become limited.
7. EEZYbotARM MK2
Project URL: Link
DaGHIZmo's Thingiverse version is a basic 4-axis robotic arm for those just starting out.
Technical Specs and Features: It only uses MG90S servos for 4 DoF, controlled by an Arduino, has a reach of around ~25 cm, and can hold a light payload.
Materials and Assembly: The parts you will need are printed parts, servos and screws; assembly is discussed in-and linked-to in the Instructables version.
Unique Features and Challenges: Is cheap and easy to build, and getting into complications means improving the build quality or scaling, this is a common example for a basic robot in the robotics world.
8. Micro Robot Arm (9g Micro Servo)
Project URL: Link
With its small form factor, the Bentommye's Thingiverse arm is intended to be portable.
Technical Specs and Features: 4 axes plus gripper, 9g servos, Arduino/IR control, and a height of 15-20cm.
Materials and Assembly:prints, 5 servos, screws, and screw-in parts, very simple assembly.
Unique Features and Challenges: Its portability and control library are advantages. Easily to work with limitations of power, limits the applications.
9. MeArm V0.4 - Pocket Sized Robot Arm
Project URL: Link
Phenoptix’s Thingiverse design, several years old, is an essential for many in education.
Technical Specs and Features: 4 DoF, micro servos, and multi-platform code (Arduino, Raspberry Pi). Relatively small footprint with ~15cm reach.
Materials and Assembly: Made from acrylic/ printed parts, 4 servos and screws. Uses a manual that has actual size profiles to help assemble.
Unique Features and Challenges:Lightweight and has a wide range of applications in education. The base assembly can be less than straight forward.
10. Thor - Open Source 3D Printable Robotic Arm
Project URL: Link
AngelLM’s Thingiverse/Github project is a 6-DoF educational arm.
Technical Specs and Features: Features 6 DoF (yaw-roll-roll-yaw-roll-yaw), steppers/servos, and approximately ~62.5cm in height.
Materials and Assembly: FreeCAD prints, actuators and hardware. The documentation on GitHub guides assembly.
Unique Features and Challenges:Open-source FreeCAD design is unique in the world, but alignment is key.
