Top 10 Open-Source Robotic Arms For Beginners

A robotic arm is one of those classic projects that almost every electronics enthusiast tries at some point. It’s a perfect mix of mechanics, electronics, and hands-on creativity and building one teaches you more than any textbook ever could. When most people think of robotic arms, they picture the big, ultra-precise industrial robotic arm machines found in factories or the sleek robots we see in movies like Iron Man(Dummy). Those are exciting to look at, but far too complex for someone who just wants to learn and experiment. In this article, we’re keeping things simple and practical. Instead of industrial-grade robots, we’re focusing on beginner-friendly robotic arm designs that you can actually build at home. No heavy components, no expensive hardware, and no advanced engineering background required. Every project featured here is open-source, easy to understand, and designed for newcomers who want to learn the basics of robotic movement, servo control, and simple automation. Whether you're looking for a simple robotic arm using Arduino, a complete 6-axis robotic arm, or a functional pick and place robotic arm, this list covers a wide range of designs that help you understand everything from basic servo control to multi-axis movement. All projects include complete robotic arm 3D models, source code, and assembly instructions. If you are more interested in Robotics, do check these Robotic Projects.

What is a Robotic Arm? Understanding the Fundamentals

A robotic arm design is a mechanical device which is designed to replicate the movements and functions of the human arm. It is designed to perform tasks with precision, reproducibility, and, in many situations, complete programmable control. Most robotic arms are made up of many stiff parts joined by joints, allowing the robotic arm to move in different directions with a degree of freedom(DOF). The more degrees of freedom an arm has, the more adaptable and capable it is. 

Industrial robotic arms exist in a variety of fields. In factories, workers assemble cars, weld metal, pick and arrange components, and paint surfaces with perfect consistency.
In medicine, they help the surgeons in operations where accuracy and steadiness play a major role. They are also widely used in laboratories, space missions, and educational settings. At the core, a robotic arm relies on a few key components:

Core Components of Every Robotic Arm

At the core, a robotic arm with a servo motor relies on several key components:

• Actuators - servo or motors which controls the movement.
• Controller - the brain of the system, which processes the data, controls the other components, etc…
• End-effector -  the tool that is attached at the end of the arm, which is known as a gripper, camera, or scalpel, depending on the process of the project.

Together, these parts allow a robotic arm to interact with its environment in a controlled and purposeful way. Whether it’s lifting small objects, performing surgical procedures, or assembling complex products, the flexibility of robotic arms makes them one of the most powerful tools in modern technology.

This image compares a robotic arm to a human arm, showing how each joint-shoulder, elbow, wrist, and hand is designed to mimic human movement. It highlights the similarities in structure and function between the two

How We Selected These Robotic Arm Projects

To make this simple and easy to build, several criteria need to be focused on; they are 

• Open-source files availability (STLs, code, schematics)
• Beginner-friendly assembly
• Affordable parts

To ensure these projects are truly beginner-friendly and practical for learning robotic arm design, we evaluated each project based on specific criteria that matter most to newcomers:

Selection Criteria	Why It Matters	What We Look For
Open-Source Files	Complete STL files, code, and schematics eliminate guesswork	Full 3D models, Arduino/C code, wiring diagrams, BOM
Beginner Assembly	Simple tools and clear instructions reduce barriers to entry	Basic screwdriver assembly, no CNC/welding required
Affordable Parts	Budget-friendly components make projects accessible to everyone	Hobby servos (SG90, MG995), common Arduino boards, 3D printed parts
Clear Documentation	Step-by-step guides ensure successful builds	Assembly videos, detailed tutorials, troubleshooting tips

1. Open-Source Files Availability (STL Models, Code, Schematics)
Beginners struggle with mechanical design, motor control, and basic kinematics knowledge. Open-source robotic arm 3D models, schematics, and source code make the learning process easier by giving complete, ready-to-use resources, which are very helpful for the initial setup. All robotic arms in this article provide fully accessible open-source files to help you start confidently.

2. Beginner-Friendly Assembly Process
Even with the open-source design files, building a 3d printed robot arm on your own can be a tough task without the proper tools. It's important to choose the designs that can be assembled easily with the help of simple tools. This ensures the beginners can build their own robotic arm without the need for any advanced tools.

3. Affordable and Accessible Components
Some robotic arms require costly components, making them difficult for beginners to try. Designs that use budget-friendly, easily available parts like hobby servos, 3D-printed pieces, and basic electronics keep the project affordable and beginner-friendly.

Essential Terms Every Robotic Arm Builder Must Understand

Before diving into the projects, it's crucial to understand the fundamental concepts that apply to every robotic arm design. 

1. Joints - The Foundation of Movement
Joints are the moving links in a robotic arm. They let the arm bend, rotate, or change direction-similar to how our elbows and wrists work. In a 6-axis robotic arm, six independent joints work together to achieve complex spatial positioning.

2. Degrees of Freedom (DOF) - Measuring Movement Capability
Degrees of freedom describe how many independent motions a robotic arm can make. Understanding DOF is essential when selecting a robotic arm design:

For example:

• 1 DOF means the arm moves in just one direction.

• 3 DOF means it can move up and down, side to side, and also rotate.
  The higher the DOF, the more flexible and capable the arm becomes.

3. End-Effector - The Working Tool
The end-effector is the tool attached to the tip of the robotic arm. It could be a gripper, a suction cup, a pen, a welding tool, or anything the arm needs to use to perform a task.

4. Servo Motor Fundamentals - Powering Precision Movement
A robotic arm with a servo motor achieves precise positioning through these electromechanical devices. They rotate to specific angles based on the signals they receive. A robotic arm with a servo motor achieves precise positioning through these electromechanical devices.

A few key points:

• They can only rotate within a set angle range (like 0-180°).
• They provide precise position control.
• Their torque determines how much weight the arm can lift.
  If you find it difficult to understand how a servo motor works, our tutorial on How to Control a Servo Motor Using Arduino will guide you step-by-step and make the concept much easier to follow.

5. 3D Design and Modeling for Robot Arms

3D design is the process of creating the arm’s parts in CAD software such as Fusion 360 or SolidWorks. These robotic arm 3D models are later 3D-printed or machined. Good 3D design ensures the parts fit well, move smoothly, and are strong enough for the job. Most open-source projects also provide complete robotic arm 3D models, which include STL files, assembly diagrams, and joint layouts that beginners can follow easily while printing or modifying the design.

6. Number of Axes - Movement Dimensions

Axes describe the different directions in which the arm can move.
For example:

• A 2-axis arm can move in only two directions.
• A 4-axis arm has more reach and versatility.
• A 6-axis arm offers very smooth and complex movement-similar to industrial robots.

7. Rotation Limits and Range of Motion

Every servo or joint has a maximum angle it can turn. Many hobby servos rotate up to 180°, while some specialised servos or mechanical joints can rotate a full 360°. These limits define how far each part of the arm can move.

8. Payload Capacity - Weight Handling Capability

Payload is the maximum weight the robotic arm can safely lift and hold. It depends on factors like the servo’s torque, the length of the arm, and the strength of the materials used. If the payload is too high, the arm may wobble, bend, or cause the motors to stall. Exceeding payload capacity causes motor stalling, joint bending, structural failure, or erratic movement in your 3d printed robot arm.

9. Power Supply Requirements - Critical Electrical Considerations

Robotic arms with multiple servo motors, especially those using multiple servos, need a stable and sufficient power source.
Beginners often forget that:

• USB power is not enough
• Servos need separate power
• Current rating (amps) matters as much as voltage
• A weak power supply causes shaking, overheating, or servo failure.

A quality 5V/5A power supply prevents these issues in multi-servo robotic arm designs.

10. Control System Selection - Choosing the Right Brain

The microcontroller selection determines your robotic arm using Arduino capabilities and expansion potential:

• Arduino for simple pick-and-place
• Raspberry Pi for advanced control
• ESP32 for wireless control
• Choosing the right controller prevents limitations later.

Top 10 Open-Source Robotic Arm Projects for Beginners

Each robotic arm design listed below includes complete build files, source code, and ready-to-use robotic arm 3D models, making it easier for beginners to assemble and understand the mechanical structure.
let's dive in

1. Object Following Robotic Arm - AI-Powered Tracking System

This project helps you build a 4DOF  robotic arm using Arduino UNO controlled by an Arduino UNO controller that can track moving objects. The arm uses four SG90 servo motors managed by a PCA9685 PWM driver, while an ultrasonic sensor and two IR sensors detect object movement. As the object moves, the arm automatically adjusts its position-moving right, left, down or up. The Arduino code includes libraries for precise servo control and sensor reading, making the setup both interactive and responsive. With affordable, modular hardware, this project is an excellent hands-on introduction to robotics, automation, and Object-tracking systems for beginners and hobbyists.

Project Source: Arduino Project Hub (roboattic_lab).
Original Project Link: https://projecthub.arduino.cc/roboattic_lab/build-your-own-object-tracking-4-dof-robotics-arm-with-arduino-dd36ba

2. Robotic Arm using ARM7-LPC2148 Microcontroller - Embedded Systems Learning

The LPC2148-based robotic arm design project is based on a simple concept: using four potentiometers to directly control the four joints of a lightweight pick-and-place arm. Each joint is powered by an SG90 servo, and the microcontroller reads the position of the potentiometers through its analog-to-digital converter pins. As you turn a knob, the matching servo moves to the new angle, allowing the arm to respond in real time. The joints include base rotation, vertical lifting, forward reach, and a small gripper, which offers enough flexibility for basic object handling. A set of indicator LEDs shows which motor is currently active. The servos are connected to a separate 5 V power supply to ensure system stability, while the microcontroller operates on 3.3 V. The firmware is written in Keil and uploaded using Flash Magic, making direct use of the chip’s ADC, GPIO, and PWM features. Overall, it’s a clean and practical way to get started with embedded robotics, demonstrating how an ARM microcontroller can be used to control a multi-axis robotic arm using simple analog inputs. The project implements a straightforward yet effective control scheme: four potentiometers directly control four joints of a lightweight pick and place robotic arm.  The four-joint configuration includes base rotation (360° workspace), vertical shoulder lift, forward elbow reach, and a functional robotic arm gripper—offering sufficient flexibility for basic object manipulation tasks and pick-and-place operations.

Project Source: Circuit Digest-LPC2148 Robotic Arm Project.
The 3D printed Robotic Arm used in this tutorial was made by following the design given by EEZYbotARM, which is available on the Thingiverse.

Project Link: https://circuitdigest.com/microcontroller-projects/diy-robotic-arm-using-lpc2148-microcontroller

3. Dolphin 3D-Printed Robotic Arm - Smooth Articulation Design
 

The Dolphin Robotic Arm is a smoothly designed, 3D-printed project made for makers looking for a simple yet functional robotic arm. Its design emphasises stability and smooth movement, with several rotating joints that let it perform basic pick-and-place tasks. The parts are easy to print and put together, and the creator offers all the necessary files, a list of materials, and step-by-step instructions, making it easy for even new builders to follow. The arm uses common hobby servos, which means the electronics are affordable and simple to control using an Arduino or similar microcontroller. As a whole, it's a small, user-friendly robotic arm that helps beginners learn about joint movement, servo control, and the fundamentals of robotic systems.

Project Source: MakerWorld – Dolphin Robotic Arm Model.
Original File Link: https://makerworld.com/en/models/91498-dolphin-arm-robotic-arm

4.  Servo Motor Fundamentals - Powering Precision Movement

A robotic arm with servo motor achieves precise positioning through these electromechanical devices. Key specifications include:

The project shows the features of a simple 4-DOF robotic arm that can be controlled remotely using an ESP32. The ESP32 runs a web-based interface where users can adjust each joint base, elbow, shoulder and gripper using sliders on the screen. As you move the sliders, the servos which is present respond instantly, allowing for real-time adjustments. The system can also include record and playback functions, enabling you to save a sequence of movements and replay them later in needed. The frame is lightweight and can easily be constructed using 3D printing, making it easy to assemble each and every part, which is ideal for beginners who want to explore the servo control, wireless communication and web-based robotics.  
Project Source: YouTube Creator (Channel Name: 
hash include electronics).

Original Video Link: https://www.youtube.com/watch?v=cVSvg6VQhGU

5. 3D Design and Modelling for Robot Arms

This is a complete 3D-printed robotic arm that has six degrees of freedom(DOF), which allows it it move flexibly and naturally, similar to a human arm. The project uses an Arduino UNO as its main control board, which sends signals to several servo motors to control the movement of each joint. Because of these six degrees of freedom, the arm can move in many different directions, giving it the ability to do complex tasks, not just simple ones like picking up and placing objects. The whole structure is made from 3D-printed parts, making it inexpensive and easy to build for people who are just starting out. The design is also modular, meaning each joint is separate and controlled by its own servo motor. This makes putting it together much easier, and you don't need any specific tools or machines to assemble it.  These robotic arm 3D models are exported as STL files for 3D printing or used to generate machining instructions. Most open-source projects provide complete robotic arm 3D models including STL files, assembly diagrams, and detailed joint layouts that beginners can follow while printing or modifying the design for custom applications.

Project Source: YouTube Creator (Channel Name: Oliver Paff)

Original Video Link: https://www.youtube.com/watch?v=n8HHMt3xdFA

6. Number of Axes - Movement Dimensions

This project features a 6 degrees-of-freedom (6-DOF) robotic arm, which is built from 3D-printed components and controlled by an Arduino. With six independent axes of motion, the arm can perform complex manipulation tasks, not just simple pick-and-place. Each joint (base, shoulder, elbow, wrist, and gripper) is controlled by a servo or similar actuator, giving it a wide range of motion. The design is compact and also strong, and the use of 3D-printed parts makes it affordable and accessible for beginners and learners. The Arduino controller sends PWM signals to each motor, enabling precise and coordinated movement across all joints. The open-source nature of the design (with publicly shared STL files and code) makes it ideal for anyone who wants to build, modify, or extend the arm for their own robotics experiments.

Project Source: YouTube Creator (Channel Name: Lee Curiosity).
Original Video Link: https://www.youtube.com/watch?v=bNzVCNyYDzM

7. Rotation Limits and Range of Motion

This project features a 6-Degree-of-Freedom(DOF)  robotic arm powered by a mix of MG995 and SG90 servo motors. It uses an STM32F103 (Blue Pill) as the main controller, while an ESP32 handles Bluetooth communication with a simple MIT App Inventor-based smartphone app. Commands sent from the smartphone are passed to the STM32, which drives each servo using precise PWM control. The design includes a custom PCB, stable power regulation, and complete build files, making it a practical and well-documented project for anyone who wants to explore embedded side and wireless robotics.

Project Source: Hackster.io - Labirenti Project Page.
Original Project Link: https://www.hackster.io/Labirenti/stm32-robot-arm-with-smartphone-control-92955b

8. DIY Robotic Arm

This do-it-yourself robotic arm is made using 3D printing and uses regular servos for each joint, which keeps the cost low and makes it simple to build. The design includes printable parts for the base, rotating platform, arm sections, and a gripper, all of which fit together using basic screws. The arm can move in multiple directions, making it good for simple pick-and-place activities. Its easy setup is perfect for people who are new to building robots. The project comes with full STL files and detailed instructions, so anyone can print the parts, attach the servos, and get the arm up and running without needing special tools.

Project Source: Printables - DIY Robotic Arm Model.
Original File Link: https://www.printables.com/model/41837-diy-robot-arm 

9. Simple 3D-Printed Servo Robotic Arm

This completely 3D-printed robotic arm is a great project for beginners and has real-world use. It uses SG90 and MG995 servos, which provide enough power for simple pick-and-place activities. All the parts are made using a 3D printer and can be put together easily with just basic screws-no special tools are required. The arm is controlled by an Arduino, allowing for smooth movement based on angles. It also comes with STL files and wiring instructions. This project is perfect for those who want to learn about mechanical design, servo control, and multi-axis motion without spending a lot of money.

Project  Source: YouTube Creator (Channel Name: Emre Kalem).
Original Video Link: https://www.youtube.com/watch?v=CHV36hu9z3E

10. 3D Printed Arduino Based Robotic Arm

The 3D-Printed Arduino-Based Robotic Arm by BasementMaker is a completely open-source and easy-to-use project that brings together 3D-printed components with an Arduino Mega and regular hobby servos to make a smooth and dependable six-axis robotic arm. It was designed after several improvements to enhance its strength and movement performance. The arm includes a strong printed base, several rotating joints, and a working gripper, which makes it perfect for simple pick-and-place tasks. All the STL and STEP design files are available for free, along with detailed step-by-step guides for printing, building, connecting the electronics, and programming.

Project Source: Instructables-3D-Printed Arduino-Based Robotic Arm
File Link:https://www.instructables.com/3D-Printed-Arduino-Based-Robotic-Arm/

If you’re interested in a mobile version of a pick-and-place system, you can also explore our Bluetooth-Controlled Pick and Place Robotic Arm Car project

Comparison Table Of the Top 10 Robotic Arms

The table below summarises the key features of all 10 robotic arm projects covered in this article, making it easier to compare their controllers, DOF, build type, & suitability so on.

S.NO	Project Name	Controller Used	DOF	Built-Type	Motor	Control Method	Suitable For
1	Object Following Robotic Arm	Arduino UNO R3	4 DOF	3D-printed	SG90 Servo Motors	Arduino -based sensor control	Object tracking, basic automation,learning robotics.
2	Robotic Arm using LPC2148	ARM7 LPC2148	4 DOF	Lightweight mechanical build	SG90 servos	Potentiometer manual control	Learning ADC, PWM, embedded control
3	Dolphin 3D-Printed Robotic Arm	Arduino/Similar	4 DOF	Fully 3D printed	Standard hobby servos	Basic Arduino control	New makers wanting simple, stable motion
4	ESP32 Smartphone/Web-Controlled 4-DOF Arm	ESP32	4 DOF	Lightweight, likely 3D-printed	Hobby servos	Web UI sliders + Record/Play	Wireless control learning
5	3D-Printed 6-DOF Arduino Arm	Arduino UNO	6 DOF	Fully 3D printed	Multiple servo motors	Arduino angle control	Intermediate users wanting complex motion
6	DIY 6-DOF Arduino Robot Arm	Arduino UNO	6 DOF	3D-printed	Mixed servos	Arduino PWM	Advanced hobby projects & experiments
7	STM32 Robot Arm with Smartphone Control	STM32F103+ESP32	6 DOF	Mixed 3D-printed + custom PCB	MG995 + SG90	Smartphone App (Bluetooth)	Embedded systems learners
8	DIY Robotic Arm (Printables)	Arduino UNO/Similar	5 DOF	Fully 3D-printed	Hobby servos	Basic servo control	Beginners with 3D printers
9	Simple 3D-Printed Servo Arm	Arduino UNO	5 DOF	Fully 3D printed	SG90 + MG995	Wired Arduino control	Mechanical design & servo basics
10	3D Printed Arduino Based Robotic Arm	Arduino Mega	6 DOF	Fully 3D-printed	Mix of hobby servos: MG996R / MG90S / SG90 / SG5010	Button-based manual control using Arduino Servo library	Beginners learning robotics, servo control, and 3D-printing projects

Applications of Robotic Arms

• Industrial Automation:
  The robotic arms are widely used in welding, painting, packaging, and assembling products.
• Medical and Surgical Assistance:
  These will assist in precise surgical procedures, rehabilitation, and handling delicate medical tasks that require stability and accuracy.
• Laboratory Automation:
  Robotic arms can able to handle the test tubes, samples and looped lab tasks, it also helps in reducing human error.
• 3D Printing and Fabrication:
  Advanced arms are used in additive manufacturing, printing large or complex components with precision.
• Agriculture:
  They help in sorting, planting, harvesting, reducing the labour cost and improving the overall efficiency.
• Hazardous Environment Operations:
  Robotic arms can perform tasks in dangerous environments, such as handling chemicals, explosives, or radioactive materials, keeping humans safe.
• Education and Research:
  They are excellent tools for learning robotics, automation, and programming, giving hands-on experience with real-world applications.
• Food Industry:
  Used for sorting, packaging, and handling food items in hygienic conditions, improving speed and reducing contamination.

FAQ -Frequently Asked Questions

1. Are all these robotic arm projects open-source?
Yes, every project which is listed here is Open-Source and you can able to download code,3D design files, etc..all for free.

2. Do I need a strong background in robotics to build these arms?
No. Most of the projects are designed with beginners. If you follow the steps carefully, you can also build a fully working robotic arm with the basic knowledge of servos, microcontroller and simple mechanical knowledge.

3. What kind of materials are used to build these robotic arms?
Many of the Robotic arms use the 3D-printed parts with the servos. Some of the arms use Acrylic sheets or ready-made brackets.

4 . Which microcontrollers are often used in these projects?
The common controllers which are all used in the above robotic arms are Arduino UNO, Arduino Mega, ESP32, NodeMCU, STM32etc...

5. How many degrees of freedom do these robotic arms have?
Most beginner-level arms range from 3 to 6 DOF. More DOF means the arm can move more freely, but it also requires more motors and wiring.

6. Can I build these arms without a 3D printer?
Yes. Some projects use acrylic or standard servo brackets that don’t require any printing. But having access to a 3D printer makes the build easier and lets you customise parts.

7. What basic tools do I need to assemble a robotic arm?
A Set of Screwdriver, a small soldering iron, and in some cases a 3D printer to make the 3D models. Mostly, the listed Robotic Arms don't need any special tools.

Conclusion For the Top 10 Robotic Arms

Open-source robotic arm projects make it easy for anyone to explore robotics without needing advanced experience or expensive tools. With ready-to-use design files, schematics, and code, beginners can understand how joints, servos, and different control systems work by actually building and experimenting. The projects listed in this article offer a solid starting point-whether you want to learn basic movement, practice 3D printing, or explore multi-axis control. The Robotic arms that are mentioned will not only encourage you to learn, but they will also help you to improve and create your own design. If you're interested in how robotic arms are being used in real industrial applications, you can also explore our interview on STMicroelectronics’ STM32MP2 AI Robot Demo at Electronica India 2025.

Projects on Robotic Arm

Previously, we have built many interesting projects on a robotic arm. If you want to know more about those topics, links are given below.