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EL-A3

A 7-DOF desktop robotic arm with a Python SDK and ROS2 control system for research and education.

  • Robot arm
  • Open source
  • ROS 2
  • 3D model (URDF)
  • 3D printable

Suggested by Robotheca, created by @RobStride (opens in a new tab), from github.com/RobStride/EDULITE_A3 (opens in a new tab). Pinned to commit 088b166 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
MIT (opens in a new tab)
Software license
MIT (opens in a new tab)
Commercial use
Allowed

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (19 scripts)

Photo and 3D model

EL-A3, photo from its repository
Photo:@RobStride (opens in a new tab)MITsource file (opens in a new tab)
Try it in the browser

3D preview converted from github.com/RobStride/EDULITE_A3 at 088b166, under MIT. View the original files from GitHub (10 KB) (opens in a new tab)

Degrees of freedom
7

What it can do

Written by Robotheca from the project's documents.

  • 7-DOF articulated arm with 6 joints and 1 gripper
  • Direct CAN bus control via Python SDK or ROS2 interface
  • Joint-level position, velocity, and torque control
  • S-curve trajectory planning for smooth motion
  • Cartesian space linear and pose control
  • Pinocchio-based forward/inverse kinematics and gravity compensation
  • Zero-torque teach-by-dragging mode with adaptive damping
  • Multi-arm management via ArmManager

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Prepare hardware components and tools
  2. 23D print mechanical parts
  3. 3Assemble mechanical structure
  4. 4Install motors and wiring harness
  5. 5Set up CAN interface and power supply
  6. 6Install Python SDK or ROS2 control system
  7. 7Configure and calibrate the robotic arm

The guide appears here as you scroll.

Guide by @RobStride (README.md), under MIT. The English translation is by Robotheca, shared under the same license.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Robstride RS00 motors for joints L1–L3 (±14 Nm, ±33 rad/s)
  • Robstride EL05/RS05 motors for joints L4–L7 (±6/±5.5 Nm, ±50 rad/s)
  • CAN adapter compatible with CANdle or gs_usb devices
  • 24 V or 48 V DC power supply
  • CAN bus running at 1 Mbps with SocketCAN
  • Optional ROS2 PC with Ubuntu 22.04+ x86_64

Connections

  • CAN bus connects motors and adapter via CANdle/gs_usb device
  • Motors communicate using 29-bit extended CAN frames at 1 Mbps
  • Power lines for motors separate from CAN bus
  • Python SDK uses RobstrideCanDriver over SocketCAN interface named can0
  • ROS2 hardware interface uses same CAN bus for real-time control