Strong, Accurate, and Low-Cost Robot Manipulator

TL;DR

Forte is a low-cost, fully 3D-printed 6-DoF robotic arm achieving near industrial performance with high repeatability, payload, and reach, suitable for education and research at under $215.

Contribution

The paper introduces Forte, a novel low-cost, 3D-printable robotic arm with high precision and payload, utilizing innovative mechanical design and topology optimization.

Findings

Achieves 0.63 kg payload and 0.467 m reach

Demonstrates sub-millimeter repeatability

Costs under $215 to produce

Abstract

This paper presents Forte, a fully 3D-printable, 6-DoF robotic arm designed to achieve near industrial-grade performance - 0.63 kg payload, 0.467 m reach, and sub-millimeter repeatability - at a material cost under $215. As an accessible robot for broad applications across classroom education to AI experiments, Forte pushes forward the performance limitations of existing low-cost educational arms. We introduce a cost-effective mechanical design that combines capstan-based cable drives, timing belts, simple tensioning mechanisms, and lightweight 3D-printed structures, along with topology optimization for structural stiffness. Through careful drivetrain engineering, we minimize backlash and maintain control fidelity without relying on high-power electronics or expensive manufacturing processes. Experimental validation demonstrates that Forte achieves high repeatability and load capacity, offering a compelling robotic platform for both classroom instruction and advanced robotics research.