Open Source Five-axis Robotic-arm : Design, Construction and Evaluation

Sammanfattning

This thesis examines the repeatability and precision achievable with a self-built, five-axis robotic arm developed using standardized hardware and 3D-printed components on a limited budget. The project is fully open-source, and all design decisions were made with accessibility and reproducibility in mind. The robotic arm builds on an early prototype from prior work and has been further refined and evaluated. The goal is to provide a documented, tested, and open-source robotic arm for builders to engage with and continue to develop. Evaluation was conducted using custom low-resource test methods to assess accuracy, repeatability, deflection, backlash, load capacity, and reach. Results indicate mixed performance and highlight several areas for further improvement. All files for 3D-models, printed circuit board (PCB), and software are available in the project’s GitHub repository.