Caution
This is a BETA release: Instructions, code, and 3D print files may change in the future and are not yet finalized. If you want to be a part of beta testing check out this link!
By building and using this system, you acknowledge that it is still under active development and may contain errors, incomplete features, or design issues. You are doing so entirely at your own risk and responsibility.
This project may require troubleshooting, modifications, and technical knowledge. Proceed only if you are comfortable working with electronics, mechanical systems, and software in a development-stage environment.
Since this project is currently in beta, feedback is highly appreciated.
If you find any mistakes, bugs, or unclear parts, please report them, including issues in:
- Documentation
- BOM and assembly documentation
- Source code
- STL and other 3D print files
Please open an issue, send us a message on Discord, or contact us via email with as much detail as possible so we can fix it quickly.
Use GitHub issues to track open work before starting a pull request:
- Open one issue per bug, task, or feature request.
- Keep each pull request focused on one logical change.
- Link the related issue in the pull request description.
- Describe what changed and what you tested.
- For larger changes, open an issue first and agree on the approach before coding.
More details on how to contribute here: https://github.com/Source-Robotics/.github?tab=contributing-ov-file
Open tasks that contributors can pick up. Before starting work, please open or comment on the related issue so work is not duplicated.
| Area | Task | Status |
|---|---|---|
| Documentation | Typos, readability changes, structure for the .md files | Open |
| Documentation | Finalize BOM, Fix links, reference images, exact number of parts... | Open |
| Hardware | Create .3mf print files for robot (follow 3D printn table) | Open |
| Hardware | Issues in 3D print / model files. | Open |
| Hardware | Recommendations for easier assembly of the robot | Open |
| Software | TODO | Open |
Status options: Open, In progress, Needs review, Blocked, Done.
- https://github.com/Source-Robotics/STEPFOC-stepper-controller
- https://github.com/Source-Robotics/RCB-Robot-Control-Box
3D Printed Collaborative Robot - Open Source Software, Manuals & 3D print files ·
Designed for Embodied/Physical AI, Safety & Ease of use
[2025-04-03] Beta Release! Contributions from the open-source community are highly encouraged, and we welcome feedback and bug reports through the GitHub Issues page.
PAR6 is a 3D-printed collaborative robot arm platform designed for research, education, and rapid prototyping in physical AI.
The project combines mechanical design files, assembly documentation, and software resources to support full-stack robotics development.
Key focus areas:
- Embodied AI and physical AI experiments and validation
- Teleoperation workflows and human-in-the-loop control
- Learning from demonstration (LfD) pipelines
- Imitation learning and dataset generation
- VLA-style data collection for AI-native robotics
- Accessible robotics research through open hardware and open documentation
Check video manuals below, Source all the parts from BOM
You will also need to build Control box from this repo:
| Resource | Description |
|---|---|
| 3D Print Files | Printable STL part files for the PAR6 robot arm, |
| BOM | Bill of materials and reference images for sourcing the required parts |
| Building Instructions | Assembly notes, cable building instructions, and supporting datasheets -- Check Video Manuals below |
| PAR6 Description | XML files, and URDF resources for simulation |
Video Assembly manual
Cable Assembly:
RCB Box:
TODO
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| Discord | Forum | Hackaday | Blog |
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CERN Open Hardware Licence Version 2 - Strongly Reciprocal
The majority of this project is open source and freely available to everyone. Your assistance, whether through donations or advice, is highly valued. Thank you!
This project includes experimental software, hardware designs, and assembly documentation that are still under development and may contain bugs, errors, or incomplete features. By using, building, or modifying this project, you acknowledge that:
- You use this project entirely at your own risk
- You are solely responsible for safe assembly, testing, and operation
- No guarantee is made regarding correctness, safety, or reliability
- The authors are not responsible for any damage, injury, or loss resulting from the use or misuse of this project
- Hardware performance and safety depend on user assembly, component quality, calibration, and handling, which cannot be guaranteed
- This project is provided “as is.” If you choose to build a device yourself using these files, designs, or instructions, you do so without any warranties or guarantees, including regarding safety, reliability, or suitability for any particular purpose.
THIS PROJECT INVOLVES LETHAL VOLTAGES AND OTHER SERIOUS HAZARDS THAT CAN CAUSE SEVERE INJURY. YOU MUST READ THE FULL SAFETY WARNING AND DISCLAIMER DOCUMENT BEFORE USING ANY PROJECT FILES. BY PROCEEDING, YOU ACKNOWLEDGE AND ACCEPT ALL RISKS AND AGREE TO USE THIS PROJECT ENTIRELY AT YOUR OWN RESPONSIBILITY.