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Koriobots

A toolkit for cable-driven robots that move objects through the air, built from 3D-printed cable drums on industrial servo motors, made for art installations.

  • Other
  • Open source
  • openFrameworks
  • 3D printable
  • Tested on real hardware

Added from github.com/madelinegannon/koriobots (opens in a new tab), created by @madelinegannon (opens in a new tab). Pinned to commit 3cb1d7e (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 (1 program or installer)

Photo and 3D model

Koriobots, photo from its repository
Photo:@madelinegannon (opens in a new tab)MITsource file (opens in a new tab)

3D preview converted from github.com/madelinegannon/koriobots at 3cb1d7e, under MIT. View the original files from GitHub (9.8 MB) (opens in a new tab)

Cable length
over 6 m
Payload (1D)
340 g
Payload (2D)
680 g

What it can do

Written by Robotheca from the project's documents.

  • Moves an end-effector in 2D space by synchronously winding and unwinding cables
  • Controlled via OSC messages from third-party software like Processing, Grasshopper, TouchOSC, Blender, TouchDesigner, or Unity
  • Supports velocity and position control modes
  • Automatic startup, homing, and shutdown for standalone art installations
  • Can coordinate multiple robots simultaneously

Bill of materials

26 parts
Export parts list (CSV)

26 of 26 parts shown

Parts list
#ComponentQuantityEst. priceSupplier
1ClearPath Integrated Servo Motor1$333≈ €297Teknic: buy ClearPath Integrated Servo Motor, opens in a new tab
2Controller Cable, 10 ft1$23≈ €21Teknic: buy Controller Cable, 10 ft, opens in a new tab
3DC Power Cable, IPC (or hub) to ClearPath, 10 ft1$19≈ €17Teknic: buy DC Power Cable, IPC (or hub) to ClearPath, 10 ft, opens in a new tab
4350/500 Watt DC Power Supply1$248≈ €222Teknic: buy 350/500 Watt DC Power Supply, opens in a new tab
5AC Power Cable for IPC-3 and IPC-51$14≈ €13Teknic: buy AC Power Cable for IPC-3 and IPC-5, opens in a new tab
6Communication Hub for ClearPath-SC Series1$49≈ €44Teknic: buy Communication Hub for ClearPath-SC Series, opens in a new tab
724 VDC Power Supply1$39≈ €35Teknic: buy 24 VDC Power Supply, opens in a new tab
824 Volt Power, 2-Pin Molex Cable2$13≈ €12Teknic: buy 24 Volt Power, 2-Pin Molex Cable, opens in a new tab
9DC Power Distribution Hub1$49≈ €44Teknic: buy DC Power Distribution Hub, opens in a new tab
10DC Power Cable, IPC to POWER4-HUB, 6 ft1$18≈ €16Teknic: buy DC Power Cable, IPC to POWER4-HUB, 6 ft, opens in a new tab
113408 Series V-Groove Pulley - 2 Pack1$7.50≈ €7ServoCity: buy 3408 Series V-Groove Pulley - 2 Pack, opens in a new tab
120.375" to 0.375" Clamping Shaft Coupler2$5≈ €4ServoCity: buy 0.375" to 0.375" Clamping Shaft Coupler, opens in a new tab
130.375" (3/8") x 4.00" Stainless Steel Precision Shafting1$2.60≈ €2ServoCity: buy 0.375" (3/8") x 4.00" Stainless Steel Precision Shafting, opens in a new tab
14Flanged Ball Bearing (7/8" OD, 9/32" Thickness) - 2 Pack1$4≈ €4ServoCity: buy Flanged Ball Bearing (7/8" OD, 9/32" Thickness) - 2 Pack, opens in a new tab
15Thrust Ball Bearing (12mm ID x 21mm OD, 5mm Thickness)1$5≈ €4ServoCity: buy Thrust Ball Bearing (12mm ID x 21mm OD, 5mm Thickness), opens in a new tab
16Aluminum Spacers (10 Pack) M5 ID, M10 OD, 35mm1$6≈ €5OpenBuilds: buy Aluminum Spacers (10 Pack) M5 ID, M10 OD, 35mm, opens in a new tab
17Socket Head Screw M5-0.8 x 45 mm, 50 PK1$15.66≈ €14Grainger: buy Socket Head Screw M5-0.8 x 45 mm, 50 PK, opens in a new tab
18Sufix Advanced Superline 832 Braid 80 lb Ghost1$20≈ €18Rapala: buy Sufix Advanced Superline 832 Braid 80 lb Ghost, opens in a new tab
19Threaded Insert Assortment1$34≈ €30ruthex: buy Threaded Insert Assortment, opens in a new tab
20Unistrut 10', 12-gauge1$35≈ €31Home Depot: buy Unistrut 10', 12-gauge, opens in a new tab
213/8 in.-16 x 1 in. Zinc Plated Hex Bolt (25-Pack)1$6.40≈ €6Home Depot: buy 3/8 in.-16 x 1 in. Zinc Plated Hex Bolt (25-Pack), opens in a new tab
223/8 in. Strut Channel Spring Nut (5-Pack)1$7.90≈ €7Home Depot: buy 3/8 in. Strut Channel Spring Nut (5-Pack), opens in a new tab
23Koriobot Grooved Cable Drum for .33mm cable1–Koriobots: buy Koriobot Grooved Cable Drum for .33mm cable, opens in a new tab
24Koriobot Pulley Block for 3408 V-Groove Pulley1–Koriobots: buy Koriobot Pulley Block for 3408 V-Groove Pulley, opens in a new tab
25Koriobot Motor Mount1–Koriobots: buy Koriobot Motor Mount, opens in a new tab
26Koriobot Motor to Unistrut Adapter1–Koriobots: buy Koriobot Motor to Unistrut Adapter, opens in a new tab

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

4 of 26 parts have no price in the source, so there is no parts total. Read from hardware/BOM.md at the pinned commit.

Build guide

The creator's steps, each with its instructions.

  1. 1Order the partsBOM.md
  2. 2Print the 3D modelscad_files
  3. 3Assemble the drum, motor controller, cable and mountsREADME.md

The guide appears here as you scroll.

Guide by @madelinegannon (README.md), under MIT.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • ClearPath-SC series integrated servo motors (Teknic)
  • ClearPath Communication Hub (SC4-HUB) for motor networking
  • ClearPath Power Hub (POWER4-HUB) for motor power distribution
  • 350/500 Watt DC power supply for motor drive bus
  • 24 VDC power supply for logic circuits
  • Controller cable (10 ft) from IPC to ClearPath motors
  • DC power cable (10 ft) from IPC to POWER4-HUB
  • IPC-3 or IPC-5 industrial PC for running the Koriobot Server

Connections

  • Motors connect to Communication Hub via controller cables
  • Communication Hub connects to IPC via Ethernet
  • Power Hub distributes motor power from DC power supply to motors
  • Logic circuits powered by 24 VDC power supply
  • Power Hub connected to IPC via DC power cable (6 ft)
  • Motors paired in configuration for coordinated movement

Cables and connectors

From the parts list.

  • Controller Cable, 10 ft × 1
  • DC Power Cable, IPC (or hub) to ClearPath, 10 ft × 1
  • AC Power Cable for IPC-3 and IPC-5 × 1
  • 24 Volt Power, 2-Pin Molex Cable × 2
  • DC Power Cable, IPC to POWER4-HUB, 6 ft × 1
  • Koriobot Grooved Cable Drum for .33mm cable × 1