G-ARM: An open-source and low-cost robotic arm integrated with ROS2 for educational purposes

摘要

The high cost of industrial robots limits their accessibility in academic settings. This research addresses this by developing a low-cost, 3D-printable robotic arm for educational use, designed using the open-source tool FreeCAD and affordable hardware components. The robot is integrated with ROS 2 Humble and MoveIt 2, enabling motion planning and control, and includes a simulator for virtual testing and prototyping. The robot was evaluated over eight months in the Industrial Robotics and Software Architectures for Robots courses at Rey Juan Carlos University. It demonstrated durability, ease of use, and practical feasibility, making it a suitable platform for training robotics professionals. This work highlights the potential of affordable robotics to enhance education and provides a scalable, replicable solution for academic institutions.