Desktop Robot Arm
A compact 3D-printed desktop arm with an ESP32-C3 Mini, four SG90 servos, and browser-based joystick control.
Project documentation
Before you build
Five answers, each linked to its source
What does it cost?
Not documented
No cost in the reviewed sources.
Can I sell what I build?
YesCommercial use OK
Hardware MIT · Software MIT. Licensing source
What’s open?
4 of 6CAD: AvailableBOM: AvailablePCB: Not documentedCode: AvailableSim: Not documentedGuide: Available
PCB, sim not documented. All six files
Is it maintained?
Active
Latest activity Aug 13, 2026 · main repo last commit Aug 13, 2026 · 3 commits in the last 52 weeks · 1 contributors Activity
01 / Under the shell
The specifications.
Hardware, build and software on one sheet. Every fact links to where we found it.
The Desktop Robot Arm is a compact, 3D-printed arm with a rotating base and gripper. Its ESP32-C3 Mini creates a Wi-Fi network for browser-based joystick control from a phone or computer. The repository provides individual STL files, a 3MF print project, and PlatformIO firmware.
Hardware
- Actuators
- Not documented Documentation
- Build
- 3D-printed · PLA Documentation
- Controller
- ESP32-C3 Mini README
- Servos
- Four SG90 servo motors README
- Power supply
- Regulated 5 V, 3 A power adapter README
Building it
02 / The files behind the robot
What’s open.
Six parts of the build, each checked separately. Gaps stay visible.
| Part | Status | What’s there | License | Source |
|---|---|---|---|---|
| CAD | Available | Individual STL files and a ready-to-open 3MF print project. | Not documented | stl-files/ |
| Bill of materials | Available | The README includes a bill of materials for electronics and mechanical parts. | Not documented | README.md |
| Electronics | Not documented | Not documented | Not documented | No source found |
| Code | Available | PlatformIO firmware project. | Not documented | platformio.ini |
| Simulation model | Not documented | Not documented | Not documented | No source found |
| Assembly guide | Available | Assembly guide with illustrations. | Not documented | desktop-robot-arm-assembly-guide.md |
03 / Know before you build
Can you sell it?
YesCommercial use OK
The whole repository, design files included, is MIT. You can build, modify and sell robots based on it, as long as you keep the license and copyright notices.
- Hardware
- MIT
- Software
- MIT
04 / The upstream project
Is it maintained?
ActiveLatest activity Aug 13, 2026, 78 days before the snapshot
The main repository’s last commit was Aug 13, 2026.
- Stars
- 9
- Forks
- 1
- Contributors
- 1
- Latest release
- None recorded
Snapshot captured Oct 30, 2026. Recorded figures, not live metrics. Active: activity within 90 days of the snapshot. Quiet: within a year. Dormant: longer.
05 / Parts & kits
A head start.
Maker-listed sellers only. No affiliate links or paid placement.
MAKER’S COST
Not documented
No cost in the reviewed sources.
Kit availability is not documented in our reviewed sources.
06 / Side by side
Compare with other arms.
Other arms in the directory, most recently active first. Same sources, same rules.
| Robot | Cost | Open files | Can I sell it? | Runs on | Maintained | Stars |
|---|---|---|---|---|---|---|
| Desktop Robot ArmThis robotCan Ertal | Not documented | 4 of 6 | YesHW MIT · SW MIT | ESP32Arduino | ActiveAug 13, 2026 | 9 |
| Star Arm 102Fashion Star | Not documented | 5 of 6 | Check firstHW not documented · SW not documented | LeRobotROS 2Python | ActiveOct 30, 2026 | 60 |
| reBot Arm Base SeriesSeeed-Projects | Not documented | 4 of 6 | Yes, with creditHW CERN-OHL-W-2.0 · SW Apache-2.0 | ROS 1ROS 2LeRobot | ActiveOct 30, 2026 | 4,628 |
| SO-ARM 102Robonine | Not documented | 4 of 6 | YesHW CERN-OHL-P-2.0 · SW Apache-2.0 | LeRobot | ActiveOct 29, 2026 | 175 |
| This robotDesktop Robot Arm | Star Arm 102 | reBot Arm Base Series |
|---|---|---|
| Cost | ||
| Not documented | Not documented | Not documented |
| Can I sell it? | ||
| Yes | Check first | Yes, with credit |
| Open files | ||
| 4 of 6 | 5 of 6 | 4 of 6 |
| Runs on | ||
| ESP32, Arduino | LeRobot, ROS 2, Python | ROS 1, ROS 2, LeRobot, Isaac, Python |
| Maintained | ||
| ActiveAug 13, 2026 | ActiveOct 30, 2026 | ActiveOct 30, 2026 |
Upkeep is measured against each robot’s own snapshot. Costs keep the maker’s scope, so check what each figure covers.
See them in the table07 / Follow the evidence
Open books.
Repository files are pinned to commit f797ef3. Websites and papers are listed with their review dates.
- 01README.md at f797ef3Reviewed Oct 30, 2026
- 02LICENSE at f797ef3Reviewed Oct 30, 2026
- 03docs/desktop-robot-arm-assembly-guide.md at f797ef3Reviewed Oct 30, 2026