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Panther Robot Arm

A low-cost six-axis robotic arm using DAMIAO motors and sheet metal structural parts, designed for students and hobbyists.

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

Suggested by Robotheca, created by @wEch1ng (opens in a new tab), from github.com/wEch1ng/Panther_RobotArm (opens in a new tab). Pinned to commit 2d00b7e (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 (29 scripts, 2 firmware images)

Photo and 3D model

This repository has no photo of the robot yet.
Try it in the browser

3D preview converted from github.com/wEch1ng/Panther_RobotArm at 2d00b7e, under MIT. View the original files from GitHub (1.8 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Moves in six joints with Dynamixel motors
  • Runs gravity compensation mode
  • Supports drag teaching mode
  • Plans Cartesian trajectories via MoveIt using action communication
  • Draws circles in Cartesian space with a provided example

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 sheet metal structural parts
  2. 23D print gripper components
  3. 3Assemble the robotic arm
  4. 4Install DAMIAO motors
  5. 5Set up ROS Noetic environment
  6. 6Configure and test basic functions (gravity compensation, drag teaching, MoveIt

The guide appears here as you scroll.

Guide by @wEch1ng (README.md), under MIT. The English translation is by Robotheca, shared under the same license.

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Dynamixel motors for all six joints
  • Controller board (unspecified model)
  • Power supply for motors and electronics

Connections

  • Power lines for motors and controller separated as per Dynamixel documentation