AM-ARM200
An affordable, fully 3D-printable open-source 6+1 DoF robot arm with a 1 kg payload, built for embodied AI research and compatible with LeRobot.
- Robot arm
- Open source
- Works with AI
- LeRobot
- 3D model (URDF)
- 3D printable
Suggested by Robotheca, created by @liyiteng (opens in a new tab), from github.com/liyiteng/AM-ARM (opens in a new tab). Pinned to commit 5b03af1 (opens in a new tab).
- Hardware license
- Apache-2.0 (opens in a new tab)
- Software license
- Apache-2.0 (opens in a new tab)
- Commercial use
- Allowed
Photo and 3D model
3D preview converted from github.com/liyiteng/AM-ARM at 5b03af1, under Apache-2.0. View the original files from GitHub (47.1 MB) (opens in a new tab)
- Reach
- 52 cm
- Payload
- 1 kg
What it can do
Written by Robotheca from the project's documents.
- Acts as a 6+1 degree-of-freedom robotic arm with about 1 kg payload and 52 cm reach.
- Serves as a follower arm paired with a leader arm for teleoperation, targeting LeRobot and AlohaMini software.
- Supports robot learning workflows such as recording datasets, training policies and evaluating them, via the shared lerobot_alohamini software.
Works with AI
Found by Robotheca in the project's files at commit 5b03af1, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.
Runs LeRobot
Stated in robot.yaml“Serves as a follower arm paired with a leader arm for teleoperation, targeting LeRobot and AlohaMini software.”
Robotheca's notes: What it can do“Supports robot learning workflows such as recording datasets, training policies and evaluating them, via the shared lerobot_alohamini software.”
Robotheca's notes: What it can do
Bill of materials
12 parts12 of 12 parts shown
| # | Component | Quantity | Est. price | Supplier |
|---|---|---|---|---|
| 1 | Servo motor | 4 | €15.97 | Alibaba: buy Servo motor, opens in a new tab |
| 2 | Servo motor | 3 | €50.37 | Alibaba: buy Servo motor, opens in a new tab |
| 3 | Hex socket screw | 74 | – | — |
| 4 | Heat-set insert | 4 | – | Amazon |
| 5 | Servo extension cable | 6 | €0.43 | AliExpress: buy Servo extension cable, opens in a new tab |
| 6 | Power supply | 1 | €13.76 | Amazon: buy Power supply, opens in a new tab |
| 7 | USB Type-C cable | 1 | €7 | Amazon: buy USB Type-C cable, opens in a new tab |
| 8 | Waveshare Bus Servo Controller | 1 | €5 | Waveshare: buy Waveshare Bus Servo Controller, opens in a new tab |
| 9 | 3D-printed parts | 1 | – | — |
| 10 | USB camera | 1 | – | Amazon |
| 11 | M2×12 Phillips screw | 2 | – | — |
| 12 | Bearing | 2 | $0.30≈ €0 | Amazon: buy Bearing, opens in a new tab |
≈ € amounts use the ECB reference rate of 16 Oct 2026, for comparison only.
5 of 12 parts have no price in the source, so there is no parts total. Read from am-arm200/bom.md at the pinned commit.
Build guide
The creator's steps, each with its instructions.
- 1Buy components
- 2Print parts
- 3Assemble leader and follower pair
- 4Set up software
The guide appears here as you scroll.
Guide by @liyiteng (README.md), under Apache-2.0.
More guides
Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- Feetech STS3215 servos (12V follower joints, 5V leader joints) and STS3095 servos on the follower's three high-torque joints.
- Waveshare bus servo controller board on both leader and follower arms.
- 12V 4A power supply for the follower and 5V 4A power supply for the leader.
- USB camera mounted at the wrist of the follower arm.
- USB Type-C cable connecting the controller to a PC.
Connections
- Servos are daisy-chained on a single bus through the Waveshare bus servo controller, with a servo extension cable between servos.
- The controller is powered by the arm's power supply and connects to the PC over USB-C.
- Each servo is assigned a unique ID so the controller can address the joints individually.
Cables and connectors
From the parts list.
- Servo extension cable × 6
- USB Type-C cable × 1
