OmArm Zero: 6-DOF (5+1 Gripper) ESP32 Robotic Arm – CAD Files, Firmware, Presentation & Build Guide

Description

What’s included

• 12 STL files – All 3D-printable parts, print-ready and pre-oriented
• STEP source files – Full parametric CAD for customization in Fusion 360 / FreeCAD
• Firmware source code – Arduino sketches for serial control and WiFi web control (ESP32 + PCA9685)
• Web interface – HTML/CSS/JS single-page app served from ESP32 LittleFS
• Fritzing wiring diagrams – Complete wiring reference for ESP32, PCA9685, and 6 servos
• PDF build guide – Printable step-by-step assembly and setup instructions (70 pages)
• Video presentation PDF – Project overview slides (OmArm Zero Presentation)
• Bill of Materials (BOM) – Full parts list with quantities, specs, and estimated cost

Specifications

• 6 degrees of freedom — 5 arm joints + 1 gripper (6 actuated joints)
• 303 mm maximum reach
• 141 g rated payload (150 g max)
• 3x MG996R (base, shoulder, elbow) + 3x SG90 (wrist pitch, wrist roll, gripper)
• ESP32 DevKit + PCA9685 PWM driver
• WiFi Access Point control via browser (10.10.10.1)
• USB serial interface for ROS 2 integration
• Total material cost under $50

Requirements

• 3D printer (FDM, PLA or PETG, 0.2 mm layer height)
• Soldering iron for basic wiring
• Arduino IDE 2.x with ESP32 board support

Full build guide available on the OmArm Zero blog post.

Links:

• YouTube Build Video (Part 1)
• Cults3D Listing
• GitHub Repository