OpenArm-6DOF
A modular 6-axis robotic arm — mechanics, electronics and motion control.
01overview
OpenArm-6DOF is a modular robotics platform: a 6-degree-of-freedom arm built around stepper motors and an ESP32 controller, presented as a real manipulation platform rather than a toy project.
The mechanics are extensively documented — exploded renders, Denavit-Hartenberg parameter diagrams and a full assembly document (PDF) covering 36 printed parts accompany the build.
On the control side, STEP/DIR signals and enable lines drive each axis, with an ESP32 exposing HTTP and WebSocket interfaces for motion control and future autonomy. A software UI has been prototyped for commanding the arm.
02architecture
- 01▣
Command
HTTP / WebSocket
- 02▣
Controller
ESP32
- 03▣
Drive
STEP/DIR + enable
- 04▣
Axes
6-DOF · steppers
- 05▣
Manipulation
end effector · world
03stack
04hardware
- 6-axis stepper arm (EB100)
- ESP32 controller
- Stepper drivers (STEP/DIR + enable)
- Printed structural parts (STL)
05software
- ESP32 motion controller
- HTTP + WebSocket interfaces
- Software control UI (templates)
06problems & solutions
Coordinating six axes with reliable, repeatable motion.
STEP/DIR signalling with enable control per axis. Kinematics are documented via DH parameters. Quantitative accuracy results are being recorded.
Controlling the arm remotely and inspectably.
HTTP + WebSocket interfaces let a software UI command the arm and stream state. Iteration continues as the platform matures.
07results & specs
- Mechanics
- EB100 · 36 printed parts
- Assembly guide
- PDF (available for download)
- Kinematics
- DH parameters documented
- Motion metrics
- Documentation in progress.
08gallery & media
0102
03
04
05
06
07
08