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PAROL6

A 6-axis 3D-printed desktop robot arm with stepper motors, gearboxes and belts, modelled on industrial arms, with its own control firmware.

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

Added from github.com/Source-Robotics/PAROL6-Desktop-robot-arm (opens in a new tab), created by @Source-Robotics (opens in a new tab). Pinned to commit 45a7502 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
GPL-3.0-only (opens in a new tab)
Software license
GPL-3.0-only (opens in a new tab)
Commercial use
Allowed

One part's design is not open

  • PAROL6 control board: Sold by Source Robotics. Its firmware is in the repository, but its circuit board design is not.

Photo and 3D model

PAROL6, photo from its repository
Photo:@Source-Robotics (opens in a new tab)GPL-3.0-onlysource file (opens in a new tab)
Try it in the browser

3D preview converted from github.com/Source-Robotics/PAROL6-Desktop-robot-arm at 45a7502, under GPL-3.0-only. View the original files from GitHub (9.2 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • 6-axis articulated arm with belt-driven joints
  • Controlled via GUI or Python API
  • Supports ROS2 and MoveIt simulation
  • Can use electric or pneumatic grippers
  • Programmable trajectories and positions
  • Emergency stop function

Bill of materials

62 parts
Export parts list (CSV)

62 of 62 parts shown

Parts list
#ComponentQuantityEst. priceSupplier
1M4 10 mm DIN 912 / ISO 4762 (hexagon socket head cap)20––
2M3 8 mm 2 mm head height10––
3M3 8 mm DIN 912 / ISO 4762 (hexagon socket head cap)50––
4M3 14 mm DIN 912 / ISO 4762 (hexagon socket head cap)30––
5M3 nut DIN 912 / ISO 4762 (hexagon socket head cap)10––
6M3 25 mm DIN 912 / ISO 4762 (hexagon socket head cap)10––
7M2 10 mm DIN 912 / ISO 4762 (hexagon socket head cap)10––
8M3 16 mm DIN 912 / ISO 4762 (hexagon socket head cap)10––
9M3 6 mm Pan head phillips10––
10M3 12 mm DIN 912 / ISO 4762 (hexagon socket head cap)30––
11M3 35 mm DIN 912 / ISO 4762 (hexagon socket head cap)10––
12M4 16 mm DIN 912 / ISO 4762 (hexagon socket head cap)30––
13M4 14 mm DIN 912 / ISO 4762 (hexagon socket head cap)10––
14M4 50 mm DIN 912 / ISO 4762 (hexagon socket head cap)10––
15M3 15 mm Tapered screw head2––
16Gearbox 20:12–Link: buy Gearbox 20:1, opens in a new tab
17Gearbox 10:11–Link: buy Gearbox 10:1, opens in a new tab
18Stepper 11–Link: buy Stepper 1, opens in a new tab
19Stepper 23–Link: buy Stepper 2, opens in a new tab
20Stepper 32–Link: buy Stepper 3, opens in a new tab
21Joint 1 belt1–Link: buy Joint 1 belt, opens in a new tab
22Joint 3 belt1–Link: buy Joint 3 belt, opens in a new tab
23Joint 4 belt1–Link: buy Joint 4 belt, opens in a new tab
24Joint 5 belt1–Link: buy Joint 5 belt, opens in a new tab
25J4 pulley, J5 pulley2–Link: buy J4 pulley, J5 pulley, opens in a new tab
26J1 pulley1–Link: buy J1 pulley, opens in a new tab
27Shaft coupler3–Link: buy Shaft coupler, opens in a new tab
28Bearing 11–Link: buy Bearing 1, opens in a new tab
29Bearing 25–Link: buy Bearing 2, opens in a new tab
30Bearing 34–Link: buy Bearing 3, opens in a new tab
31Tension bearing20–Link: buy Tension bearing, opens in a new tab
32Tension bearing20–Link: buy Tension bearing, opens in a new tab
33PAROL control board1–Link: buy PAROL control board, opens in a new tab
34TMC51606–Link: buy TMC5160, opens in a new tab
35Thermal paste / cement2–Link: buy Thermal paste / cement, opens in a new tab
36On/Off button1–Link: buy On/Off button, opens in a new tab
37JST PH 2.0mm 200mm 4PIN1–Link: buy JST PH 2.0mm 200mm 4PIN, opens in a new tab
38Noctua NF-A4x20 5V 40mm1––
39Power connector - male + female1–Link: buy Power connector - male + female, opens in a new tab
40Gripper connector (electric)1–Link: buy Gripper connector (electric), opens in a new tab
41Power supply1–Link: buy Power supply, opens in a new tab
42Limit switches3–Link: buy Limit switches, opens in a new tab
43Inductive sensor 11–Link: buy Inductive sensor 1, opens in a new tab
44Inductive sensor 21–Link: buy Inductive sensor 2, opens in a new tab
45Inductive sensor 31–Link: buy Inductive sensor 3, opens in a new tab
46Estop1–Link: buy Estop, opens in a new tab
47Cable gland for estop1–Link: buy Cable gland for estop, opens in a new tab
48M3 brass insert4–Link: buy M3 brass insert, opens in a new tab
49Pneumatic connector - robot4–Link: buy Pneumatic connector - robot, opens in a new tab
50Pneumatic Gripper1–Link: buy Pneumatic Gripper, opens in a new tab
51Pneumatic gripper connector2–Link: buy Pneumatic gripper connector, opens in a new tab
52Pneumatic tube5–Link: buy Pneumatic tube, opens in a new tab
53xt30 connector female1–Link: buy xt30 connector female, opens in a new tab
54Stlink / programming adapter1–Link: buy Stlink / programming adapter, opens in a new tab
55USB B cable1––
565/2 solenoid air valve1–Link: buy 5/2 solenoid air valve, opens in a new tab
57Suction cup gripper1–Link: buy Suction cup gripper, opens in a new tab
58Vacuum generator1–Link: buy Vacuum generator, opens in a new tab
594mm to 6mm coupler1–Link: buy 4mm to 6mm coupler, opens in a new tab
60J1 turret dowel pin3–Link: buy J1 turret dowel pin, opens in a new tab
61Upper arm dowel pin4–Link: buy Upper arm dowel pin, opens in a new tab
62Two part epoxy1–Link: buy Two part epoxy, opens in a new tab

62 of 62 parts have no price in the source, so there is no parts total. Read from BOM/BOM.md at the pinned commit.

Build guide

The creator's steps, each with its instructions.

  1. 1Get the partsBOM.md
  2. 2Print the parts in PETGPETG_printing.md
  3. 3Assemble the robotParol building instructions.pdf
  4. 4Set up the software and run the robot (opens in a new tab)source-robotics.github.io

The guide appears here as you scroll.

Guide by @Source-Robotics (README.md), under GPL-3.0-only.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • PAROL control board
  • TMC5160 stepper motor drivers
  • Three stepper motors
  • Limit switches
  • Three inductive sensors
  • Estop button
  • Noctua NF-A4x20 5V cooling fan
  • USB B cable for communication
  • XT30 power connector
  • 5/2 solenoid air valve for pneumatic gripper
  • Vacuum generator and suction cup gripper
  • On/off button

Connections

  • Stepper motors connected to TMC5160 drivers on the control board
  • Limit switches wired to control board inputs
  • Inductive sensors wired to control board inputs
  • Estop button wired to control board
  • Cooling fan connected to control board
  • Pneumatic gripper connected via solenoid valve and tubes
  • Power supplied through XT30 connector to control board

Cables and connectors

From the parts list.

  • JST PH 2.0mm 200mm 4PIN × 1
  • Power connector - male + female × 1
  • Gripper connector (electric) × 1
  • Cable gland for estop × 1
  • Pneumatic connector - robot × 4
  • Pneumatic gripper connector × 2
  • xt30 connector female × 1
  • USB B cable × 1