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Teensy-Powered 6-DOF Robot Arm

A fully 3D-printable, 6-axis robotic arm driven by a Teensy 4.1, featuring custom kinematics and a Python web control interface.

danieljhanddanieljhand
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This open-source (GNU General Public License v3.0) 6-DOF robotic arm is designed for makers and educators looking for a capable desktop platform. It moves beyond simple servo setups to offer a robust, math-driven kinematic engine.

Hardware: The mechanical structure features 100% 3D-printable modular joints (all STEP files are included). The control system is powered by a Teensy 4.1, leveraging its processing speed to handle real-time calculations and smooth motor control.

Software:
• Low-Level (C++): Runs directly on the Teensy, executing the core forward and forward kinematics engine.
• High-Level (Python): A custom web application that provides a clean, user-friendly interface to control the arm right from your browser.

I hope some of you find it useful and can use it as as starting point to build something new. Enjoy!

[GitHub] https://github.com/danieljhand/6_dof_robot_arm
[Demo] https://github.com/danieljhand/6_dof_robot_arm/blob/main/media/robot-demo.mov

robot-demo.mov

quicktime - 30.17 MB - 04/05/2026 at 07:35

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robot_arm_joint_3.step

step - 9.76 MB - 04/05/2026 at 07:35

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render.png

Portable Network Graphics (PNG) - 494.85 kB - 04/05/2026 at 07:35

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robot_arm_joint_6.step

step - 2.38 MB - 04/05/2026 at 07:35

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wireframe.png

Portable Network Graphics (PNG) - 129.63 kB - 04/05/2026 at 07:35

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