PARA: A one-meter reach, two-kg payload, three-DoF open source robotic arm with customizable end effector

摘要

This article presents a robotic arm that is more cost effective than existing models on the market while still maintaining sufficient torque and speed capabilities. Most industrial-grade high power and precision arms are often very expensive, while conversely, more low-cost arms targeted toward the education and hobby sectors are inadequate in power and robustness. The Creative Machines Lab's three degree of freedom Printed Articulated Robotic Arm (PARA) can lift a 2 kg payload at a reach of 940 mm, while under a no-load case, it has exhibited a precision of about ±2.6 mm at an end effector speed of 250 mm/s. It costs about $3400 to build, an order of magnitude lower than market models with similar functionalities. This project is also meant to serve as a demonstration of the usage of 3D printed parts as practical tools in industry.