reBot DevArm B601-DM
A 6-axis desktop robot arm with a gripper, made of CNC aluminium and 3D-printed parts and driven by CAN bus motors, for robot learning and research.
- Robot arm
- Open source
- Works with AI
- ROS 2
- 3D model (URDF)
- Tested on real hardware
Added from github.com/Seeed-Projects/reBot-DevArm (opens in a new tab), created by @Seeed-Projects (opens in a new tab). Pinned to commit c247ea9 (opens in a new tab).
- Hardware license
- CERN-OHL-W-2.0 (opens in a new tab)
- Software license
- Apache-2.0 (opens in a new tab)
- Commercial use
- Unknown
The README asks to contact the creator for commercial use.
Photo and 3D model
Its license doesn't let Robotheca show its photos.
Try it in the browser
3D model loaded from the original files on GitHub at c247ea9, under CERN-OHL-W-2.0. View the original files from GitHub (21.6 MB) (opens in a new tab)
- Degrees of freedom
- 6
- Gripper
- Yes
- Reach
- 767 mm
- Weight
- 4.5 kg
- Payload
- 1.5 kg
What it can do
Written by Robotheca from the project's documents.
- 6-axis articulated arm motion with gripper
- Position and velocity control of each joint
- Trajectory planning and gravity compensation
- Forward and inverse kinematics
- Teleoperation via ROS2 or Python SDK
- Visual grasping with depth camera and YOLO
- Voice control with reSpeaker mic array
- Natural-language command execution for pick-and-place tasks
Works with AI
Found by Robotheca in the project's files at commit c247ea9, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.
“Visual grasping with depth camera and YOLO”
Robotheca's notes: What it can do
Bill of materials
79 parts79 of 79 parts shown
| # | Component | Quantity | Est. price | Supplier |
|---|---|---|---|---|
| 1 | Robotic Arm Base Platform | 1 | – | – |
| 2 | Robotic Arm Base Link | 1 | – | – |
| 3 | Upper Arm Left Filler | 1 | – | – |
| 4 | Upper Arm Right Filler | 1 | – | – |
| 5 | Upper Arm Center Filler | 1 | – | – |
| 6 | Upper Arm Horizontal Limit Block | 1 | – | – |
| 7 | Arm Handle | 1 | – | – |
| 8 | Lower Arm Left Filler | 1 | – | – |
| 9 | Lower Arm Right Filler | 1 | – | – |
| 10 | Lower Arm Center Filler | 1 | – | – |
| 11 | Upper Arm Cover | 1 | – | – |
| 12 | Lower Arm Cover | 1 | – | – |
| 13 | Motor 5 Protection Cover | 1 | – | – |
| 14 | Gripper Horizontal Limit | 1 | – | – |
| 15 | Gripper Slider Support Bracket | 1 | – | – |
| 16 | Gripper Finger | 2 | – | – |
| 17 | Motor 5 Cable Restraint | 1 | – | – |
| 18 | Motor 6 & 7 Cable Restraint A | 2 | – | – |
| 19 | Motor 6 & 7 Cable Restraint B | 2 | – | – |
| 20 | Wiring Harness Clips for Two Sides of Motor 1 | 2 | – | – |
| 21 | Orbbec Gemini2 | 1 | – | – |
| 22 | Motor 1 Bearing Mount | 1 | – | – |
| 23 | Motor 1 Rotation Axis | 1 | – | – |
| 24 | Motor 2–5 Front Spacer | 4 | – | – |
| 25 | Motor 2–4 Rear Spacer | 3 | – | – |
| 26 | Motor 2–4 Rear Flange | 3 | – | – |
| 27 | Wrist Motor 5 Bracket | 1 | – | – |
| 28 | Gripper Connector A | 1 | – | – |
| 29 | Gripper Connector B | 1 | – | – |
| 30 | Gripper Slider Metal Bracket | 1 | – | – |
| 31 | Slider to Gripper Extension | 2 | – | – |
| 32 | Upper-Lower Arm Link Left | 1 | – | – |
| 33 | Upper-Lower Arm Link Right | 1 | – | – |
| 34 | Lower Arm-Wrist Link Left | 1 | – | – |
| 35 | Lower Arm-Wrist Link Right | 1 | – | – |
| 36 | Gear Connector | 1 | – | – |
| 37 | Rack | 2 | – | – |
| 38 | Link 1 | 1 | – | – |
| 39 | Link 2 | 2 | – | – |
| 40 | Link 3 Left | 1 | – | – |
| 41 | Link 3 Right | 1 | – | – |
| 42 | Link 5 | 1 | – | – |
| 43 | Brushless motor | 4 | $120≈ €107 | SeeedStudio: buy Brushless motor, opens in a new tab |
| 44 | Brushless motor | 3 | $175≈ €156 | SeeedStudio: buy Brushless motor, opens in a new tab |
| 45 | CAN-USB driver board | 1 | $15≈ €13 | SeeedStudio: buy CAN-USB driver board, opens in a new tab |
| 46 | Bearing | 1 | $13≈ €12 | Amazong: buy Bearing, opens in a new tab |
| 47 | Bearing | 3 | $13≈ €12 | Amazong: buy Bearing, opens in a new tab |
| 48 | Bearing | 1 | $12≈ €11 | Amazong: buy Bearing, opens in a new tab |
| 49 | Linear rail | 1 | $23≈ €21 | Amazong: buy Linear rail, opens in a new tab |
| 50 | Slider block | 2 | $10≈ €9 | Amazong: buy Slider block, opens in a new tab |
| 51 | Gear | 1 | $44≈ €39 | Amazong: buy Gear, opens in a new tab |
| 52 | Silicone pad | 1 | $10≈ €9 | Amazong: buy Silicone pad, opens in a new tab |
| 53 | Screw | 14 | – | Amazong: buy Screw, opens in a new tab |
| 54 | Screw | 14 | – | Amazong: buy Screw, opens in a new tab |
| 55 | Screw | 16 | – | Amazong: buy Screw, opens in a new tab |
| 56 | Screw | 4 | – | Amazong: buy Screw, opens in a new tab |
| 57 | Screw | 30 | – | Amazong: buy Screw, opens in a new tab |
| 58 | Screw | 34 | – | Amazong: buy Screw, opens in a new tab |
| 59 | Screw | 76 | – | Amazong: buy Screw, opens in a new tab |
| 60 | Screw | 31 | – | Amazong: buy Screw, opens in a new tab |
| 61 | Screw | 31 | – | Amazong: buy Screw, opens in a new tab |
| 62 | Screw | 72 | – | Amazong: buy Screw, opens in a new tab |
| 63 | Dowel pin | – | – | Amazong: buy Dowel pin, opens in a new tab |
| 64 | Dowel pin | – | – | Amazong: buy Dowel pin, opens in a new tab |
| 65 | Screwdriver set | 1 | $16≈ €14 | Amazong: buy Screwdriver set, opens in a new tab |
| 66 | Woodworking clamp | 2 | $20≈ €18 | Amazong: buy Woodworking clamp, opens in a new tab |
| 67 | Power Supply | 1 | $27.35≈ €24 | amazon: buy Power Supply, opens in a new tab |
| 68 | Power Cord | 1 | $4.49≈ €4 | amazon: buy Power Cord, opens in a new tab |
| 69 | Output Port | 1 | $9.99≈ €9 | amazon: buy Output Port, opens in a new tab |
| 70 | Power AC Wiring | 3 | $0.99≈ €1 | aliexpress: buy Power AC Wiring, opens in a new tab |
| 71 | 3-in-1 IEC Inlet Socket | 1 | $1.98≈ €2 | aliexpress: buy 3-in-1 IEC Inlet Socket, opens in a new tab |
| 72 | XT30 to XT60 adapter cable plug | 1 | $8.99≈ €8 | amazon: buy XT30 to XT60 adapter cable plug, opens in a new tab |
| 73 | 304 Stainless Steel Phillips Countersunk Head Screw | 6 | $0.37≈ €0 | – |
| 74 | 304 Stainless Steel Phillips Countersunk Head Screw | 2 | $0.36≈ €0 | – |
| 75 | 304 Stainless Steel Phillips Pan Head Screw | 2 | $0.32≈ €0 | – |
| 76 | Hex Nut | 2 | ¥2.10≈ €0 | – |
| 77 | Front Cover | 1 | – | – |
| 78 | Rear Cover | 1 | – | – |
| 79 | Front Cover Slider | 1 | – | – |
≈ € amounts use the ECB reference rate of 14 Oct 2026, for comparison only.
57 of 79 parts have no price in the source, so there is no parts total. Read from hardware/reBot_B601_DM/readme.md at the pinned commit.
Build guide
The creator's steps, each with its instructions.
- 1Get the partsreadme.md
- 2Assemble the arm (opens in a new tab)wiki.seeedstudio.com
- 3Reset the motor IDs (opens in a new tab)wiki.seeedstudio.com
- 4Calibrate and do the first run (opens in a new tab)wiki.seeedstudio.com
The guide appears here as you scroll.
Guide by @Seeed-Projects (README.md), under CERN-OHL-W-2.0 (hardware) and Apache-2.0 (software).
More guides
Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- Orbbec Gemini2 depth camera
- ReSpeaker Flex 4-mic array or XMOS XVF3800
- Brushless motors (7 units) with CAN-USB driver board
- CAN bus communication between motors and driver
- 24V DC power supply for B601-DM or 48V DC for B601-RS
Connections
- CAN bus connects motors to CAN-USB driver board
- USB cables connect depth camera and microphone to host computer
- Motor power and signal harnesses follow printed wiring harness clips shown in diagrams
Cables and connectors
From the parts list.
- Motor 5 Cable Restraint × 1
- Motor 6 & 7 Cable Restraint A × 2
- Motor 6 & 7 Cable Restraint B × 2
- Wiring Harness Clips for Two Sides of Motor 1 × 2
- Gripper Connector A × 1
- Gripper Connector B × 1
- Gear Connector × 1
- Power AC Wiring × 3
- XT30 to XT60 adapter cable plug × 1
