This page documents the TinyARM5 robot from my NAECON 2026 Paper: “Hardware Design of the 5 Degree of Freedom TinyARM5 Robot“, which you can read on arXiv or IEEE Xplore (soon).
Preface
Q: What is it?
A: The TinyARM5 is a 5 Degree-of-Freedom (DoF) tabletop-size robot arm with a partially compliant gripper. It’s pretty inexpensive (~$300 USD) and features a special capability: true torque control! Unlike most other robots that heavily rely on rigid position control (which can be dangerous to the robots or their surroundings), this manipulator is intelligently compliant. This can make it an ideal platform for hobby work, education, or constrained work.
Q: Is it hard to build?
A: Not at all! Because of the part selection, you don’t need ANY electronics experience to make one yourself! Simply buy the electronics, 3D print the chassis, and screw/plug everything in… then your robot is ready to go!
Hardware
Kinematic Configuration
Gripper Design
Nick K Robotics 