{"ID":2892311,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2507.15693","arxiv_id":"2507.15693","title":"Strong, Accurate, and Low-Cost Robot Manipulator","abstract":"This paper presents Forte, a fully 3D-printable, 6-DoF robotic arm designed to achieve near industrial-grade performance - 0.63 kg payload, 0.467 m reach, and sub-millimeter repeatability - at a material cost under $215. As an accessible robot for broad applications across classroom education to AI experiments, Forte pushes forward the performance limitations of existing low-cost educational arms. We introduce a cost-effective mechanical design that combines capstan-based cable drives, timing belts, simple tensioning mechanisms, and lightweight 3D-printed structures, along with topology optimization for structural stiffness. Through careful drivetrain engineering, we minimize backlash and maintain control fidelity without relying on high-power electronics or expensive manufacturing processes. Experimental validation demonstrates that Forte achieves high repeatability and load capacity, offering a compelling robotic platform for both classroom instruction and advanced robotics research.","short_abstract":"This paper presents Forte, a fully 3D-printable, 6-DoF robotic arm designed to achieve near industrial-grade performance - 0.63 kg payload, 0.467 m reach, and sub-millimeter repeatability - at a material cost under $215. As an accessible robot for broad applications across classroom education to AI experiments, Forte p...","url_abs":"https://arxiv.org/abs/2507.15693","url_pdf":"https://arxiv.org/pdf/2507.15693v1","authors":"[\"Georges Chebly\",\"Spencer Little\",\"Nisal Perera\",\"Aliya Abedeen\",\"Ken Suzuki\",\"Donghyun Kim\"]","published":"2025-07-21T15:02:01Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}