My mini servo grippers and completed robotic arm

Posted: April 19, 2010 in Mechanical

Whoah!, what happened here?!

This is the work for a vacuum cleaner, to bad it did eat the part right above as well…:p

A little time ago I made a robotic arm, without the gripper. So last week I draw a gripper that is compatible with a mini servo, I made two versions because I had to chose between two kinds of gears, straight and rounded. Because I first finished the straight gears version I milled this one first, but since there was a little play between the two gears I also made the second one, the one with the rounded gears. I was surprised because it only took me about 2 hours to make one! The gripper with the rounded gears has much less play so thats a good sign. The gripper came out quite nice, here below are some pictures:

All the part milled out, the rounded gears look really nice, without much play!

The assembly of the hand, and the 2 hands I made.

Here’s a close-up of the little screws I used, there 2.0 x 10mm:

A close-up of the hand with some nice foam on it for extra grip.

Here’s how the mini-servo is connected with the gripper:

Here’s a video of the second gripper, it runs really nice!

Now my gripper and the arm itself is finished the mechanical part is actually finished, so I only have to make the electronics for it! Finely some progress!
A picture of the total arm:

Here’s how the arm moves, with a remote:

I already made some progress for the electronics, since I’m planning on using an Arduino to control the robot I made a shield just for connecting the servo’s with feedback to the Arduino.
On the right is the shield I made:

Testing the shield with some servo’s:

The schematic actually is really simple, it just gives the signals to the Arduino and backwards. There is also a female header for an infrared receiver and some female headers for power supply and 4 connections to the remaining (unused) Arduino I/O pins. So it is possible to connect another switch or sensor.

Here is how the PCB came out, the library I used had a bug in it because the distance between the headers was exactly one headerpin to close! To overcome this problem I bent the header pins to fit into the Arduino female headers. Maybe I make a new one with some more switches, but for now it is only to test the whole arm. For testing the robotic arm with the Arduino I have to wait for cables which I ordered to extension the existing ones. Also the cable has a 4th female header pin which gives the Arduino the analog voltage from the servo (which is later used for position feedback).

Here below are some more pictures of the whole arm, and a little video of the whole arm in action. Last week I had vacation so I milled another arm, just because it is possible 🙂 I’m planning on making another few arms from some nice plastic like PVC or something and mill them on a real EMCO CNC milling machine at school, but the arm I have works perfectly so far and I already have two of them.

I started to post my things on, so you can download the .stl files from there:

The standard servo gripper: (not for this robotic arm)

The mini servo gripper:

The arm:

I hope you like it, let me know if you made one 🙂

Update: Here’s the follow up post:

  1. Viktor says:

    Nice work! did the hand always fall on flor when you turn of electricity?

  2. Ben says:

    Hey, this servo arm looks PERFECT for a project im looking at making, so i was wondering where you bought your servos, cheapest i saw for all servos was about $42 or so. If i do end up building ill be sure to let you know.

  3. Maulik says:

    Sir I am a final year Electronics student pursuing my degree of B.E. I have planned to make a robotic arm for my final year project.

    I saw your work and was truly amazed.I know you must be very busy with your work.But it would be a favour if you can guide me as in how to go on sequentially to implement this project.I have searched a lot about the project but too many ideas and too many links are doing nothing more than confusing me rather.

    So I’ld really appreaciate if you can take out some of your precious time to guide me.

    Thank you.

    ( I know I’m asking for too much at this point of time.But I’m very much interested in robotics and am looking forward to do muchmore in robotics.It would be very difficult at this level to understand all aspects but i want to try and achieve it.)

    • jjshortcut says:

      I’m willing to help you, but you have to tell me on which subject you need help. Soon I will be posting the electronics of the robotic arm.

    • manami says:

      Sir will u plz give a detailed description ( with a video if possible) on how u made the arm and the gripper

  4. Maulik says:

    As I told Sir I’m making a robotic arm for my final year project.Wat I’m told by my Profs. is tat I’ll have 2 design d whole arm myself.So I’ll have 2 take care of all d load handling capabilites & freedom of movement which seems a bit tricky at dis point of time since I haven’t started my work yet.U said U’ve used 4mm thick hardwood.Tats wat I wanna know d material used by U,d ratings of d servos(type,rpm,torque),d weight-lifting capacity of ur arm.Also its freedom of movement since servos r used.Also if u can tell me places wer I should take care wer u must’ve faced few difficulties.
    The only reason I’m being too cautious is tat I don’t want 2 waste much time in places wer ur guidance can help 🙂

    • jjshortcut says:

      Hi, I’m not sure I can help you on all these topics, but I will give it a try.

      The servo’s I use are the cheapest ones I could find (Conrad: (you can find the torque here), but choosing these servo’s results in the fact I have to use a spring for compensate the mass of the arm. For the weight lifting capacity I’m not sure, I’m still working on the software and electronics and have not tried much lifting yet. You can try to calculate it, if you know the servo’s and materials you want to use. All the servo’s can be set at almost 180 degrees of freedom (depending on the servo specs). For difficulties the most important thing (I think) is to make a proper and small design for a gripper which closes parallel. I did looked a lot at other existing arms, especially the lynxs 6. Maybe it is a good idea to first make a list of what the arm has to do: degrees of freedom, velocity, lifting capacity etc.

      I hope this helps you a bit!

  5. ARUNCHAND J S says:

    What is the material used for arm and gripper

  6. cyberdork says:

    Quick question, the bolts you used on the gripper, maybe you have a link with a closer view of them? Or maybe a place where to order them?

  7. Chris Lewis says:

    Hi there,

    I have built the grippers and all is OK apart from the gears which I am having trouble with as I have cut them out of 4mm PCB material and filing them to suit is a real pig of a job by hand , Have you any spares I could buy off you from the NC machine. For other people building this print the drawing of the parts then use the photocopier enlarge feature to match the size to the servo motors. I am using PICAXE 8 to drive them.

  8. Chris Lewis says:

    For people put off by complex software to drive the servos try This will allow a beginner to write code in basic to drive the gripper arm. The board will drive three servos and there are more complex chips to expand this to eight. If you download the data sheet in pdf and copy and paste the examble code and load it into the chip via serial leadand software provided then that code will allow you to set up the gripper using two servos with no modification to the software. You will need to match up the position of the servos to suit.

  9. sam says:

    can you plz giv me a snap shot of the back side of the gripper where the servo is attached with it, so that i might get an idea that how exactly i need to attach it with gripper

  10. han says:

    hi, what sized screws did you use to attach the servo horn to the structure?

  11. han says:

    hi, may i take alook at your power supply? i most prob will be using a modified PSU to use the 5v and solder it somewhere to drive the servos.

    • jjshortcut says:

      I first used 4 AA battery’s, but now I use just a regular power supply of 5V 3Amps. You need quite a big buffer for driving all the servo’s at once.

      • han says:

        ah yea i would have thought so. did you get a regulated lab supply or? my servos are hs 422, around 700mA to 800mA each :O five would take up 4amps..

  12. kawal says:

    Hey nice arm..
    I m really very much confused
    do i need to program the servo(gripper one) in a loop to get a grip or it will work without writing the code in loop ?..

    i know thats a stupid question but i would like your help..


    • jjshortcut says:

      I use an Arduino for controlling the servo’s, and if I control a servo with it, a PWM signal is created to control the servo and it continues the PWM signal until it is changed (or if you cut the power). So the Arduino creates a sort of loop to control the servo, so you don’t have to take care of it.

      • kawal says:

        how will it work for picaxe 28X1 ? …hope you know some basics about picaxe..

        and yeah thnx for your informative repy..

      • jjshortcut says:

        Sorry I actually don’t know anything about the picaxe, but I think it will not be that hard to control a servo.

  13. kawal says:

    actually the main problem with me is making a robot which has a arm on its base to pick up cans/ in case of programming it..i will have to make a loop which is called the “main loop” of the code…so if i make a “main loop” ..then it wouldn’t be possible to put the servo code in another loop in the same program…
    hope u understand..

  14. jjshortcut says:

    I’m not exactly sure about what you mean, but I think it works with interrupts at a certain time interval. I can’t help you on the programming of a picaxe, but I think there must be enough tutorials about controlling a servo.

  15. S. S. Patki says:

    Nice robot… What is the weight of this whole robot..? And how much weight it can lift..

    • jjshortcut says:

      The weight of the whole robot including the servo’s is about 487 gram. For the lifting I actually don’t know, depends on het voltage at the servo’s and the servo’s itself. I think it might be something like 100 gram.

  16. sakuro says:

    hi. my final year project is to built a robotic arm to lift a tennis ball. i am wondering if u could help me in the design of the gripper. could u send me the design for the gripper? tq.

  17. azhar says:

    hi there. its hard to find a cnc machine around my area. i am wondering if u could help me to make the gripper without the servo. maybe i can pay u?

  18. unknown says:

    make another one!

  19. Stefan says:

    Is it possible to get the drawing in a 1-1 scale pdf?

  20. Ajinkya Porje says:

    hi…i m a diploma student and preparing a pick and place robot as my final year project. your idea is a innovative and helped me to create my design for a robotic arm. as a 3rd year mechanical student i’m facing some problems while designing it further. i wanted to know the type of motors you used with their specifications. would be waiting for your reply. and i must say a good project made by you….

  21. anand says:

    hii frnz.. can you please send me that documentation

  22. Arek says:

    I am currently working on my own robot, and one of it’s components is robotic arm equipped with gripper. I find your solution very attractive, and would like to use it in my solution(Of course if you don’t mind)
    Is it possible for you to send me schematics of mini gripper like those depicted here:

    but in some sort of CAD format? I could then use it in CNC like tool. Or maybe tell me how did you
    Also what are the dimensions of mini servo that you used? Since servo is attached to one of the elements(shape and screw-holes are clearly visible) maybe i just need to rescale your project to my servo’s dimensions which are 23×12,2×29 mm.
    I am looking forward to hearing from you,
    Regards Arek

    • jjshortcut says:

      For drawings check out my Thingiverse:
      The whole arm:
      and the gripper:

      There are .stl files and a sheet with the whole robotic arm in .dxf format.
      For info about the servo’s please check out the Thingiverse object, it has all the information about the type of servo’s.

      • Arek says:

        Thx for quick answer! I didn’t notice the dxf file when i was browsing thingiverse.
        But i don’t fully understand that sentnce:

        “For info about the servo’s please check out the Thingiverse object, it has all the information about the type of servo’s.”

        Do you mean by that those stl files? I’m not familiar with that format. Is there any easy way just to rescale whole project to size that would match my servo?

        Thanks in advance,
        Regards Arek

      • jjshortcut says:

        The servo’s I used are:
        TopLine mini-servo ES-05 JR
        TopLine standaard servo RS 2 J/R

        Check for the dimensions of those. If there is a difference, which I doubt, you can rescale the whole drawing sheet (.dxf file) to your servo’s but It’s better to just rescale the servo hole in stead of the whole sheet because the screws won’t fit anymore.

        .stl files are a simple universal format for 3d objects. Thingiverse is 3d-printed oriented and a 3d printer can handle stl files, but for milling a .dxf file is as good as because almost everything is just 2d.

      • Arek says:

        Thank you for answers:)

  23. Sahil Juneja says:

    I’ve been researching for a long time on building a cheap robotic arm and I must say, this is one of the best I’ve seen. 🙂
    I’m planning to go ahead and try to make one of my own (might take time due to lack of proper resources here) but the only thing that I’m doubtful about is the programming part. First part of my project is related to manually controlling the arm with the help of an Arduino and Processing/PS Remote. I was just wondering if you could suggest some reference material which would help me program it. I don’t have much programming experience,but I hope to change that with this. Thanks!

    • jjshortcut says:

      Programming the robotic arm is very simple with an Arduino, you just control the servo’s with the servo function which is very nicely described at the arduino site. If you open a example of the servo in the Arduino software it is realy simple. So just look at the Arduino site and examples provided in the software.

      • Sahil Juneja says:

        Oh thanks for the reply. Will surely check it out. Although, I’m trying out a different gripper design than yours. Don’t really have a CNC milling machine nearby! 😀 Thanks again.

  24. Sahil Juneja says:

    Hello again,
    An Arduino can run 6-7 servos at once. I was wondering if a servo controller for this project is required or not?? If it is then can you suggest me one which I can buy? The ones I found online are not custom made for an Arduino, as in, directly plug it into an arduino and control the motors. Can you help me out with this??

  25. Sahil says:

    Well I am almost finished with my arm chassis… Is it possible for you to mail me the pics of the arm which show the other side of the arm (opposite to the servo shaft)? I wanted to check how you have put up the bearings??

  26. hopa cupa says:


    great work…

    So if you have your DFX file is it enough that I import them into Mach3 and use like 1.5 mm tool or do I need some additional adjustments???

    thx in advance

  27. hello

    great work..

    is there any servo arm that using a digital gate ? because now in my school, i work on the science fair and i want to make a servo arm, but i totally don’t understand about programming the robot, just called me newbie or beginner. And how i get the remote control for controlling the robot ? i am confuse right now, because my school only give a 12 bucks to make it. low budget.

    sorry if my language was bad, i am not an america :p

    thanks a lot

    • jjshortcut says:

      I’m not sure what you mean, but making the robot arm with only 12 bucks can’t be done. The servo motors only are priced at 5 to 6 dollar each..

  28. ahsan says:

    hello sir you are doing a great job …I want the circut of this gripper it will be really an honar for me… thankx
    department of mechatronics engineering
    University of engineering & technology Taxila chakwal campus

  29. ahsan says:

    I am a bit weak in programing kindly i want a code too

  30. grunf says:

    first test 😀 great stuf thx J-J..

  31. Bobby says:

    Nice project! But I have a question – which type of servo you’re using? Because, in every micro servo the position of the mounting screws are different (actually, I mean that the length between the mounting screws is different :)). Thank you in advice!
    Best regards,

  32. Hello and happy new year!!

    Unfortunately the servos you used are too expensive for me and the shipment to Romania is hard. I found some other ones in China via eBay but I don’t know if they will fit.
    Can you please provide some compatible alternatives? I already made the arm I don’t want to get any servos and risk that they will not fit.

    Thank you 🙂

  33. abu says:

    hello. please help me. I have a doubt. how is the other corner of arm is attached to servo motor. one side is shaft fixed and other side what they fixed for the wooden arm

  34. abu says:

    please help me. I have a doubt. how is the other corner of arm is attached to servo motor. one side is shaft fixed and other side what they fixed for the wooden arm

  35. preeti says:

    hey i have planned to make this arm…… so plz help me in doing the same…….. i hope u will……

  36. Kumar says:


    At present am doing my final year project which requires a pick n place bot. When i searched the web i stumbled across this work of yours. I intend to use this design of yours for designing the arm of my bot (limited 2 D.O.F.).
    It would be of great help to me if you could give me the exact dimensions of your work.

    Thanks in advance.

    P.S.: I am an electronic student & hence i’m not acquainted with the cad tool.

  37. Kumar says:

    The exact dimensions of the objects in the image “IMG_4262[800×600]” would suffice, because i intend to design the gripper alone.. 😀

    Thanks in advance..

  38. nks says:

    Nice work !!!! please can you send me the programe arduino to commande this robotic arm and the circuit schematics.

  39. nks says:

    when finished I’ll post some pictures of my servo arm.

  40. I’ve just subscribed to your sites feed, thanks a bunch for all the hard work you put into the site.

  41. Hi!

    This is my arm:

    Hope you like it.

    • jjshortcut says:

      Super cool! nice to see you finished it, I definitely like it 🙂

      How did you make the “bearings” at the back of the servo’s?

      • I’ve cut 1cm cilinder from a orange plastic rod that dad used for fishing and superglued it in place. It’s pretty solid.
        The elbow servo it’s kinda weak. I’ll need to find a spring or some rubber bands to help it lift weight.
        I’ll keep you posted.

  42. grunf says:


    here is my frist hardware test with C# app in early development stage…

    and some of my students hardcoded first test

    • jjshortcut says:

      That looks very neat, I’m looking forward how things are developing! Will the program be released? Or open source?

      • grunf says:

        Sharing is caring….:)

        everything is going to be a open source of course i work as a teacher so it is my obligation :D….when me and my students make a bet version you wil be first to known!!!!

        all the best, greeatings from Bosnia

      • jjshortcut says:

        Nice! I’m looking forward to see it 🙂

    • Very nice work! Please post follow ups. What MCU are you using ?
      I also wanted to make it out of acrylic/plexi but the costs were to high for my budget.

      Best wishes from Romania.

  43. John says:

    Sir, how can i contact you personal? I have some questions to ask you.

  44. Mateo Ball says:

    Can you please send me the dimensions of your robot arm such as the diameter of the base and the length of the lower arm. I’d greatly appreciate if you did because the 2D design program I use changes the size of the sketch.

    • jjshortcut says:

      Hi, for a reference you can take the holes in the arm, those are 3mm (the most used drilling holes). For example the hole in the bottom right corner are 3mm.

      • jjshortcut is right but I have a suggestion. I had a lot of trouble finding 3mm screws. First look at your store for 3mm. If you can’t find them, chose 3.5mm ones because they are easier to find. The whole arm will be a bit bigger but the servos(if you choose the ones used by jjschortcut) will do the job just fine. Another advice, try to minimize the number of screws used to keep the whole assembly light. 2 screws for each servo is enough.

        Update from my project:
        I managed to hook up all the stuff, the arm is working just fine, although I didn’t hack into the servos to do an analog read like jjshortcut did. I will post in the following week the code for the arduino and a python(pygtk GTK2 more precise) written program to control the servos via serial port. Note that the program works only under linux. I used the one of the 3 buttons to switch from IR control or serial control(or both), and the other 2 to make something automatically.
        This is my collage final project. I will post the written part as well, but it will be in Romanian so I don’t know how much it will be usable for this open project. Who knows.


      • Mateo Ball says:

        Could you please tell me the diameter of the base, thats what I’m having trouble with.

  45. jjshortcut says:

    The base, which has the mounting holes, is 95mm, without the mounting holes pieces so just the diameter of the round circle of the part.

  46. Mateo Ball says:

    Thank you, greatly appreciated, you could check out my blog at

  47. Mateo Ball says:

    What servos did you use for everything except the gripper an wrist?

  48. Mateo Ball says:


  49. Steven says:

    hallo janjaap
    ik heb een vraagje
    is het ook mogelijk om de robotarm manueel te besturen?
    mvg Steven

  50. steven haages says:

    zo’n f14 is de controller? 🙂

  51. Mateo Ball says:

    you know the bars that run in-between the two sides of the lower arm, could you tell me what they are called, I’d like to buy some. I tried using other methods, they didn’t look as nice.

  52. Hello again 🙂
    I got back to contribute.
    Here is my arduino sketch and a webpage to control the servos. It uses the php_serial_class..

  53. Wissam says:

    Very nice and neat gripper… How do you calculate the stress needed to grip an item?

  54. Roche John Sanoy says:

    Dude.. can i ask what type specific type of hardboard you are using.. we’re having a quite problem using plexi glass for the gripper. Thanks by the way,, this has been very helpful.

  55. ian anchores says:

    hello. if you dont mind sir. can you give some idea? i need other application of robot arm gripper for my thesis. thanks! More power to you.

  56. Please send to my email the pattern of the original size robotic arm(inch).i want to make too

  57. kaustubh ahale says:

    i want to make a best project for my semester
    as one of my project got leaked and the idea was submitted by another group i was rejected later
    now i have only one week for dead line of another project
    can u help me make me or suggest me to prepare a best project

  58. Aditya says:

    Hey hai.I am doing a similar project 4 my final year project. I am not able to understand how u connected the servo motors.Please.if possible,put up a tutorial so as to how the motors are connected.Please reply to my mail id so that I can ask 4 ur help when im in need .my email id is

    • Aditya says:

      Also please guide me regarding ,how the servo motors are attached at the shafts of the arm

      • Aditya says:

        and also guide me so as to how springs are used to balance the arm when no external power is being supplied.

  59. lemi says:

    awesome man!
    I love it. keep up the good work

  60. Vinayak says:

    Dear JJ,

    I am a Phd student working on intelligent automation at Cranfield University, UK. I wanted a 6-DOF robot arm for my research and figured out thanks to our detailed blog that I can build one cheaply and quickly. I am glad I did it and learnt a lot during the process. I will cite your blog wherever I publish my work using the robot arm and keep you updated. Please let me know if there are any preferences you may have on providing citations to your work.

    Thanks for this wonderful work!

    Kind Regards,


  61. saurav singh says:

    sir can u give me the dimension of each part of a robotic arm gripper……

  62. saurav singh says:

    pls send on my mail id

  63. saurav singh says:

    but sir i didnt find the right link pls send the link

  64. saurav singh says:

    sir plzz help me quickly

  65. SHhiva Bhusal says:

    Mr. admin please post the size detail of arms and mechanical parts… and which servo you are using

  66. Maayan Migdal says:

    Hi JJ,
    Really cool arm and also the other stuff that you do (CNC, etc’) are pretty awesome !
    I’m currently trying to clone your arm for being a part of my final project at school.

    I’m wondering which bolts and nuts to buy and how many,
    i read in your posts that you used M3 bolts and different spacers.

    do you maybe have a list of all the bolts and nuts that you used and how many from each type ?

    it can make things easier since i’m using the same parts as you did…

  67. Jasmin Ouellet says:

    Hi !

    Great arm ! Got to make one of these !!!!

    I will try to make mine with ABS.

    Have you ever considered sharing the Aspire source file ?


  68. Gocht says:

    I really like this! I’m starting and I wonder if you can share the plan to build this robotic arm using mini servos (sorry for my bad english).

  69. paul says:

    hello great work seems to be really cool preject i was wondering if you can send me the planes so i can draw it in Solidworks and do it later thanks for sharing ur gr8 work

  70. jasonALEJO says:

    goood day..what thee length of lower links and the mid links
    emaail me at

  71. jasonALEJO says:

    what is the length of the links youve

  72. abbas says:


  73. shubhampusa says:

    i made a gripper
    i m gaving problem in interfacing servo with gripper

  74. malik says:

    is that an arduino uno R3

  75. shehab says:

    just find it amazing how you made that robot.
    I chose it for my university-project and wanted to ask you, how you made it to control robot with a remote control. I have no idea how you made it.
    would be nice, if you could tell me.
    And whats your measures for each single part of that robot? Does that .dxf- have already correct measures?

  76. Shah says:

    Hey jj, I need your help in re-designing the gripper to grip objects of width 57mm. Please help me

  77. Magyk says:

    I wonder how step motors on the base would affect the weight problem you’re having… just a thought. I’m fairly certain that they are much stronger, though the code is a bit more complex for exact positioning… Also pretty sure arduino has prebuilt libraries for this if not an entire project example or two.

  78. creasty j says:

    sir,my question is much typical…i don’t need to use programming 4 my prjocet purpose,i had made wireless remote controlled robot..there’s also 4 connections left 4 connecting motor to circuit nd operate those motor using remote it pssible..instead of doing programming..i could give connection of all those servo motor to my transmitter-reciver circuit and could operate this roboarm wirelessly using remote control? not atomatically but manualy..!! please replay as soon as possible coz i m working on your project.thank u sir.

  79. creasty j says:

    sir,my question is much typical…i don’t need to use programming 4 my prjocet purpose,i had made wireless remote controlled robot..there’s also 4 connections left 4 connecting motor to circuit nd operate those motor using remote it pssible..instead of doing programming..i could give connection of all those servo motor to my transmitter-reciver circuit and could operate this roboarm wirelessly using remote control? not atomatically but manualy..!! please replay as soon as possible coz i m working on your project.thank u sir.

  80. Nicholas Shatokhin says:


    How did you connect this two parts ? Did you use glue?

  81. Pratyush Vardhan says:


  82. Havin read this I believed it was very informative.
    I appreciate you finding the tme and energy to put this content
    together. I once again fiond myseof personally spending a significant
    amount of time both reading and posting comments.

    But so what, it wwas still worth it!

  83. chinmay garanayak says:

    sir,i am trying to make the gripper.But the final arm to hold the object is not straight all the time while rotating.Can u provide the exact dimensions of the parts of gripper so that it will be easier for me to make it.

  84. Daniel says:

    that arm works with arduino uno?

  85. Daniel says:

    can you post the design of your shield?

  86. Daniel says:

    Hi, can you post the design of your shield?

  87. Sebastian says:

    Hello my friend from the Netherlands 😀 Awesome work you did! I try to build one for my own but I encounter some problems. I made the most parts from blue acryllic glass and it seems really nice. But there are a few things that I don’t understand or know: For what are “bearing elbows” (the cylindric things) good for? Can I make them with a 3D Printer? Second, which servo horns do you use? I only got some really stupid + shaped ones. Are they also selfmade with a 3D Printer or even lasered/cut out? Besides that, my servos don’t fit as good as yours – allthough they’re the same size of yours. Mine seem to be a little bit more “curvy”, so that they won’t fit perfectly in the molds you made. Thanks in Advance! Greetings from Germany 🙂

    • jjshortcut says:

      Hi Sebastian,

      Quick answer; the elbow bearings are used as a bearing and are glued onto the back of the servo. They can be printed certainly! The horns of the servos I used are just the normal ones I got with the servos..

      • Sebastian says:


        it’s very hard to see because all photos or drawings are made from an angle where you can’t see them 😦

        I opened the solidworks files and saw, that even the horns are 3D Printed…? For what is the file liftgear.SLDPRT good for? And in the solidworks folder is a servohorn file. Are this type of horns being used for all servos? If not, can you tell me for which they are being used? I know, I asked you a lot of questions, but I am really stuck, confused and frustrated 😦

        Thanks in Advance.

      • jjshortcut says:


        None of the servo horns are printed, they came with the servos. I’m not sure about the liftgear part anymore but if it is a circular part it is, I think, for leveling the gears of the gripper. The servo horns are different ones for the standard size and small ones..

      • Sebastian says:

        Damn, now I need to get more servo horns. As I said, the one(s) which came with my servos (Actually it was just 1 per servo) is a + shaped. The size does not fit, the holes do not allign with the ones in the cut out plastic and for the gripper, the servo stucks out way too much. I needed about 25 washers per nut to raise the both gear parts. Difficult to explain though. Do you have any idea?

      • jjshortcut says:

        I think the easiest is to drill some extra holes and cut off some of the horns..

  88. Mark Larsen says:

    Hi, Sorry if this has already been asked but what is the scale for this object. I am trying to print it off on paper from microsoft visio.

  89. Anali says:

    What software did you use to design every single part of the arm?

  90. Dhamar Haryadi says:

    Is it possible to make it with carboard/balsa wood?

  91. […] has created an easy to make robot arm that has 6 degrees of freedom. There is not much to it, the frame is made out of 4mm thick […]

  92. […] has created an easy to make robot arm that has 6 degrees of freedom. There is not much to it, the frame is made out of 4mm thick […]

  93. […] has created an easy to make robot arm that has 6 degrees of freedom. There is not much to it, the frame is made out of 4mm thick […]

  94. […] has created an easy to make robot arm that has 6 degrees of freedom. There is not much to it, the frame is made out of 4mm thick […]

  95. Andrew says:

    Hey – the link to the file isn’t working any more! Please fix…

  96. amidar says:

    Could You please reupload eagle files. Link is dead!

  97. […] JJ Shorcut ha creado un brazo robot “facil de hacer” que tiene 6 grados de libertad. No hay mucho que decir, el marco está hecho de madera prensada de espesor de 4 mm, unos servos que proporcionan la energía y un puñado de hardware que lo mantiene unido. El marco se ha reducido con éxito tanto con un cortador láser y un router CNC, por lo que este diseño es aún más fácil de lograr para cualquier aspirante a especialista en robótica. […]

  98. Abdul Rehman says:

    plzzzz can u give the code ….

  99. Aaron says:

    I’ve got the arm complete and working fine with the exception of the base. I may be mistaken, but looks like the entire base rides on the bottom servo’s gear. I don’t expect to be doing any heavy lifting with it, but seems like it’s a lot of weight to ride on it. Have you had any issues with it? Or am I just not understanding how it works? 🙂

    Here’s some demo’s of the one I built:

    And a 2nd using an old NES controller 🙂

  100. Joseph says:

    Hey, I was just wondering what size fasteners (Bolt and nut) you used for the gripper?

  101. […] I have done electronics. I need help on connecting my servos to an Arduino to power my robotic arm. This is the robotic arm that I am trying to […]

  102. Fernando says:

    I want to try, but no files for PCB and code to download

  103. enesmuslu says:

    I will use towerpro sg90 micro servo for this robot arm. But servos are too weak for lft the big arm and object. I couldn’t find your servos anywhere. Unfortunately I could not scale drawing for this servo perfectly so I’ve been trying for two weeks. Please could you resize this drawing for 23×12.2x29mm servo motor. I am very embarrassed for I want from you. If I do this thank you very very much sir.

  104. Darshan Paawar says:

    sir can i get the Arduino coding and other materials like type of motors and all used to build the arm so that even i can make this type of arm

  105. divanshu says:

    i want to know that will the hand jaws of robot will move or will stay at one place as i am very confused in making of jaws

  106. striker1996 says:

    Can you please give tell me the setting’s of the gripper of your robotic hand, means how you set up the pieces to make that gripper.

  107. Riley says:

    can u give me a new link to the pcb download

  108. Peter says:

    is there a PDF file for the claw

  109. […] Quizás uno de los más asequibles para hacer es este mini robot que se puede realizar simplemente con una placa Arduino Uno. Su creador ha usado madera prensada y un servo motor creado por el mismo, aunque se puede realizar con cualquiera del mercado. Tenéis su proyecto completo en su blog. […]

  110. mega-hz says:

    nice thing! I want to make on a cnc-mill, what diameter of tool did you use?

  111. Dave says:

    Nice work.. So many engineering students so desperately wish for you to send more details (that they’re too lazy to look for/figure out) so that they can more easily plagiarize it as their own work to “earn” their degrees.

    Just what the world needs – more “engineers” who don’t know anything about engineering lmao.

  112. […] Quizás uno de los más asequibles para hacer es este mini robot que se puede realizar simplemente con una placa Arduino Uno. Su creador ha usado madera prensada y un servo motor creado por el mismo, aunque se puede realizar con cualquiera del mercado. Tenéis su proyecto completo en su blog. […]

  113. luke Cosgrave says:

    Could you send me a parts list?

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