OpenArm - Open-Source Humanoid Robot Arm by Enactic

The OpenArm is a versatile, modular, and fully open-source robotic arm developed by Enactic. It serves as a teaching, research, and development platform and is ideal for users of all skill levels – from beginners to advanced developers.

Thanks to its open architecture, standard motor connections, and freely available control software, the OpenArm allows users to create their own programs, customize them, and run them on real hardware. All design and control data are openly accessible, facilitating individual adaptations, integration into larger systems, and the development of custom algorithms.

The OpenArm is a humanoid 6-axis robotic arm that enables natural movement patterns and versatile applications. Both the hardware and software are fully open-source; all documentation, CAD models, and control architecture are freely available.

The robotic arm is modularly expandable, allowing additional grippers, sensors, or tools to be easily integrated. Thanks to plug-and-play control, it is compatible with popular robotics frameworks such as ROS, Arduino, and Python.

Powerful control enables precise positioning, real-time motion control, and customizable trajectories. This makes the OpenArm ideal for education, research, maker communities, and developer teams, providing an excellent platform to learn robotic functions hands-on and implement custom projects.

Applications: Robotics education & STEM workshops, research and development, human-robot interaction (HRI), automation of testing and handling tasks, prototyping, and rapid integration.

Highlights & Features

• 7 Degrees of Freedom (7 DOF)
• Human arm kinematics for high dexterity and natural motion
• Fully Open-Source: Hardware (CAD files, electronics), firmware, control software, and simulation
• Robust metal construction: High-quality CNC-machined aluminum and metal components for stability and durability
• Back-drivable & compliant actuators: Suitable for safe human-robot interaction and precise force control
• CAN-FD high-speed interface: Real-time communication for precise and responsive control
• ROS integration: Native support for ROS / ROS 2 and Python / C++ APIs

Specifications

• Degrees of Freedom (per arm): 7
• Configuration: Bimanual robotic arms
• Arm reach: 633 mm
• Weight per arm: 5.5 kg
• Control frequency: 1 kHz CAN-FD
• Nominal payload: 4.1 kg (maximum mass that can be held for 1 minute in worst-case posture, arm fully extended)
• Peak payload: 6.0 kg (maximum mass that can be lifted from lowest posture to worst posture within 3 seconds, held for 1 second, and returned)

Note: Payload includes the end-effector.

Joint & Gripper Motor Overview

• J1: DM-J8009P | Rated torque: 20 Nm | Peak torque: 40 Nm
• J2: DM-J8009P | Rated torque: 20 Nm | Peak torque: 40 Nm
• J3: DM-J4340P | Rated torque: 9 Nm | Peak torque: 27 Nm
• J4: DM-J4340P | Rated torque: 9 Nm | Peak torque: 27 Nm
• J5: DM-J4310 | Rated torque: 3 Nm | Peak torque: 7 Nm
• J6: DM-J4310 | Rated torque: 3 Nm | Peak torque: 7 Nm
• J7: DM-J4310 | Rated torque: 3 Nm | Peak torque: 7 Nm
• Gripper: DM-J4310 | Rated torque: 3 Nm | Peak torque: 7 Nm

Typical Applications

• Robotics & AI research and development
• Physical AI, Imitation Learning & Reinforcement Learning
• Teleoperation & Human-Robot Interaction
• University teaching and demonstration systems
• Simulation, prototyping, and algorithm development

Included in the Package

• 1× OpenArm humanoid robot arm (Leader or Follower configuration)
• Integrated gripper / end-effector
• Connection and interface cables
• Mounting hardware
• 4x G-clamps
• 1x USB to CANFD converter
• 1x Emergency stop button
• 2x 24V 15A power adapters
• Access to open-source documentation & software repository