Started in 2022 as an exploration of what’s possible in the field of DIY robotics, Pavel Surynek’s Real Robot One (RR1) project is a fully-featured 6+1-axis robot arm based on 3D-printed parts and widely available electronics. The initial release was constructed with PETG filament, custom gearboxes for transferring the motor torque to the actuators, and a plethora of stepper motors/shaft-mounted encoders to provide closed-loop control.

The lessons learned from V1 were instrumental in helping Surynek design his next iteration of the RR1 project, including improved motion, rigidity, and control schemes. Replacing the more flexible PETG filament is a far stronger polycarbonate composite which aided in reducing backlash in the gearing. Beyond the plastic housing, Surynek also swapped the planetary gearboxes for a series of belt-driven mechanisms as well as moved the encoders to the perimeter of each joint to get better positional tracking. The last major change involved printing the gripper in TPU and securing it to the wrist assembly with more points of contact.

Controlling all seven stepper motors is an Arduino Due, which talks to the host machine using its serial USB connection and a custom GUI. It is through this interface that each joint can be configured, set, and continuously monitored, thus giving a comprehensive way to operate the arm.

For more information about revision 2 of the Real Robot One project, watch Surynek’s video below!