Y.A.R.A. - Yet Another Robot Arm
Description
So yes — it's another robotic arm.
And sure, there are plenty of these out there, and many are more advanced.
But this one's got a twist. A Capstan Drive.
I set out to build a robotic arm designed specifically for kids — something both educational and fun. I had a few goals in mind, one of which was to keep it super simple. That part... didn’t exactly go as planned. But! Other parts of the project turned out to be surprisingly worthwhile.
There is a great emphasis on making the printing process as smooth and easy as possible.
And it is necessary to print the system from ABS if you want it to function for a long time.
One thing I’m especially proud of is the finger mechanism. I found a way to make it compact and functional without using any gears at all. No complex gearing systems — just a clean, straightforward solution. I think that’s a neat little discovery that the community here might appreciate.
So without further ado, this is my take on a hands-on robotic arm system that’s both reliable and practical.
I want people to actually use it — to experiment, learn, and enjoy. Whether it’s in the classroom or just for fun, I hope it sparks creativity and curiosity.
The build process is flexible and adaptable to whatever tools and resources you have. Yes, there are quite a few parts and screws — but the system is very forgiving. If something breaks or doesn’t go right, reprinting is quick and easy. Most parts are small and don’t require supports, so repairs aren’t intimidating at all.
The source file is FREECAD format
The big servos are MG996
The small servos are SG90
I know there are several types equivalent to these models
https://www.youtube.com/watch?v=e5xhzITw0Sg
Improved and better Capstan Drive Griper .
See the following link