OpenK Arm
An open-source low-cost AI robot arm, built on the lerobot codebase with DAMIAO and STS3215 actuators, whose body parts can all be 3D printed.
- Robot arm
- Open source
- Works with AI
- LeRobot
- 3D printable
Suggested by Robotheca, created by @CleanKDev (opens in a new tab), from github.com/CleanKDev/OpenK (opens in a new tab). Pinned to commit 26b149e (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/CleanKDev/OpenK at 26b149e, under Apache-2.0. View the original files from GitHub (207.7 MB) (opens in a new tab)
What it can do
Written by Robotheca from the project's documents.
- Teleoperation: a leader arm drives the follower arm in real time (openk-teleoperate).
- Records demonstration episodes into LeRobot-format datasets, optionally pushed to Hugging Face Hub (openk-record).
- Replays recorded episodes on the follower arm (lerobot-replay).
- Arm is a general-purpose low-cost AI robot arm built on the lerobot codebase, originally developed for the CleanK restroom cleaning robot.
- Includes URDF and simulation support; body parts are 3D-printable.
Works with AI
Found by Robotheca in the project's files at commit 26b149e, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.
Runs LeRobot
Stated in robot.yamlHas LeRobot code
In the project files: scripts/lerobot_calibrate.py“Records demonstration episodes into LeRobot-format datasets, optionally pushed to Hugging Face Hub (openk-record).”
Robotheca's notes: What it can do“Replays recorded episodes on the follower arm (lerobot-replay).”
Robotheca's notes: What it can do“Arm is a general-purpose low-cost AI robot arm built on the lerobot codebase, originally developed for the CleanK restroom cleaning robot.”
Robotheca's notes: What it can do
Bill of materials
This repository has no parts list Robotheca can read yet.
Build guide
The guide appears here as you scroll.
Guide by @CleanKDev (README.md), under Apache-2.0. 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
- DAMIAO DM-J6006 motors on the two shoulder joints.
- DAMIAO DM-J4310 motors on the upper arm, elbow and forearm.
- STS3215 servos on the wrist and gripper of the follower arm.
- STS3215 servos on all axes of the leader arm.
- USB serial ports used for the follower and leader arms (ttyUSB* on Linux).
Connections
- Follower and leader arms each connect to the host computer over their own serial port.
- Port names are found with lerobot-find-port before running commands.
- Cameras are optional and are not required for the HIL test setup.