DIY, < €350 partsProject's own estimate of hardware cost. No official kit.

AvailableVia SSH / web / bridge3D printedCC BY-SA 4.0G-codeROS 2

Weeks+Shipping: DIY build. No commercial kit. Parts are printed and sourced from the project's bill of materials.

Remote control: Streams G-code over USB serial (any Python serial script works) or runs through the Thor-ROS ROS 2 / MoveIt 2 packages.

Project site ↗GitHub ↗Thor-ROS ↗

Overview

One of the longest-running open-source 3D-printed 6-DOF arms, started in 2015 as a university final-degree project and developed publicly since (the GitHub repository dates from 2015). It uses an industrial wrist layout and is driven by G-code like a 3D printer, which keeps electronics cheap but limits it to open-loop steppers.

Specifications

Category	Robot arms · Desktop & hobby arms
Released	2015
Availability	Available
Programmability	Open source (hardware + software)
Best for	Ages 16+ (estimated)
Vision sensors	No vision sensors
Actuators	Stepper motors
Audio	No audio
Compute type	Arduino / ESP32 / microcontroller
Remote control	Via SSH / web / bridge
DOF	6 (yaw-roll-roll-yaw-roll-yaw)
Reach	Not published (625 mm tall stretched)
Payload	750 g max (incl. end effector)
Repeatability	Not published
Weight	Not published
Controller	Arduino Mega + custom shield (ThorControlPCB) or commercial 3D-printer boards running GRBL or RepRapFirmware
Sensors	Endstops for homing (BOM lists four optical endstops and one micro endstop)
SDK	G-code over serial, Asgard control GUI, ROS 2 + MoveIt 2 packages