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HumbleArm

A low-cost desktop 6-DOF robotic arm controlled via ROS, using Arduino UNO, an I2C servo driver, and six servos.

  • Robot arm
  • No license: all rights reserved by the creator
  • ROS
  • 3D model (URDF)
  • 3D printable

Suggested by Robotheca, created by @XiangxingZ (opens in a new tab), from github.com/XiangxingZ/HumbleArm-Simplest-Desktop-Six-Axis-Robotic-Arm- (opens in a new tab). Pinned to commit 41cc364 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
No license
Software license
No license
Commercial use
Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

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

Which files (1 file marked executable, 1 script)

Photo and 3D model

Its license doesn't let Robotheca show its photos.
See the photos on GitHub (opens in a new tab)
Try it in the browser

3D model loaded from the original files on GitHub at 41cc364, under NONE. View the original files from GitHub (989 KB) (opens in a new tab)

Degrees of freedom
6
Reach
0.35 m

What it can do

Written by Robotheca from the project's documents.

  • 6-axis joint control via ROS
  • Real-time GUI joint-angle sliders
  • Inverse-kinematics GUI for end-effector pose control
  • Workspace Monte Carlo analysis
  • URDF digital-twin preview in RViz
  • Gazebo physics simulation
  • MoveIt trajectory planning and execution

Bill of materials

9 parts
Export parts list (CSV)

9 of 9 parts shown

Parts list
#ComponentQuantityEst. priceSupplier
1Arduino UNO（兼容板）1¥30≈ €4–
216 路 I2C 舵机驱动板（实测地址 0x2D）1¥15≈ €2–
3MG995 舵机3¥15≈ €2–
4SG90 舵机3¥10≈ €1–
55V/5A 外部电源1¥15≈ €2–
6杜邦线 / 跳线–¥5≈ €1–
7USB 数据线1¥5≈ €1–
8结构件（3D 打印套件，约 10 个零件）1¥30≈ €4–
9螺丝、轴承、垫片等五金件–¥25≈ €3–

≈ € amounts use the ECB reference rate of 14 Oct 2026, for comparison only.

Parts total: ¥200. Read from README.md at the pinned commit.

Build guide

The creator's steps, each with its instructions.

  1. 1Prepare Arduino and ROS environment
  2. 2Assemble 3D printed parts and hardware
  3. 3Connect servos, driver board, and power supply
  4. 4Upload Arduino firmware
  5. 5Install and configure ROS packages
  6. 6Test joint control and GUI interaction
  7. 7Perform workspace analysis and calibration

The creator's guide is in the repository. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guideAsk the creator on GitHub (opens in a new tab)

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Arduino UNO (main controller)
  • PCA9685 16-channel I2C servo driver board (address 0x2D)
  • MG995 servos (3 units)
  • SG90 servos (3 units)
  • 5V external power supply (≥5A)
  • USB data cable

Connections

  • Arduino UNO 5V → PCA9685 VCC (logic power)
  • Arduino UNO GND → PCA9685 GND (common ground)
  • Arduino UNO A4/SDA → PCA9685 SDA
  • Arduino UNO A5/SCL → PCA9685 SCL
  • PCA9685 V+ → external 5V power supply V+ (servo power)
  • PCA9685 GND → external 5V power supply GND (common ground)
  • 6 servos signal wires → PCA9685 PWM channels 1–6

Cables and connectors

From the parts list.

  • 杜邦线 / 跳线
  • USB 数据线 × 1