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OpenArm v1.1 leader arm – 3D model preview

OpenArm v1.1 leader arm

Téa · Robotics · 3D model · Updated 30 Oct 2026

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Procedures

1. Pedestal assembly

Assembly · 12 steps · No ratings yet

12 steps

  1. Place Base Plate

    Step 1: Pedestal Assembly

    WARNING
    Before starting the assembly, configure motor IDs by following Step 1: Setup Motor ID.

    Place the base plate on a flat surface.

  2. Place Aluminum Extrusion

    Place the 750 mm 60x60 aluminum extrusion on the base plate, making sure the two holes on the longer side of the base plate stay clear and in front of the extrusion.

  3. Insert T-slot Nuts

    Ensure that the required T-slot nuts are already inserted into the extrusion channels. If they are not pre-inserted, you can still add them by carefully angling them into the slot and sliding them into place.

  4. Insert T-slot Nuts

    Ensure that the required T-slot nuts are already inserted into the extrusion channels. If they are not pre-inserted, you can still add them by carefully angling them into the slot and sliding them into place.

  5. Insert T-slot Nuts

    Ensure that the required T-slot nuts are already inserted into the extrusion channels. If they are not pre-inserted, you can still add them by carefully angling them into the slot and sliding them into place.

  6. Place Left Side Bracket

    Place one side bracket on the left side of the aluminum extrusion.

  7. Place Right Side Bracket

    Place one side bracket on the right side of the aluminum extrusion.

  8. Align Side Brackets

    Align the brackets so that the holes line up with those on both the base plate and the nuts in the extrusion.

  9. Secure Side Brackets with Bolts

    Using M6x12 bolts, tighten each bracket by inserting bolts through the base plate and into the T-slot nuts in the extrusion.

  10. Secure Side Brackets with Bolts

    Using M6x12 bolts, tighten each bracket by inserting bolts through the base plate and into the T-slot nuts in the extrusion.

  11. Position Reinforcement Bracket

    Align one right angle 30°-60° reinforcement bracket with both the base plate and the aluminum extrusion.

  12. Secure Reinforcement Bracket with Bolts

    Secure the bracket using M6x12 bolts, fastening it to both the base plate and the aluminum extrusion.

    INFO
    That concludes the Pedestal Assembly.

2. J1-J2 sub-assembly

Assembly · 8 steps · No ratings yet

8 steps

  1. J1-J2 Sub-Assembly Overview

    Before starting the J1-J2 sub-assembly, ensure that motor IDs are configured by completing Step 1: Setup Motor ID. The J1 motor must be configured to have ID: 0x01 and Master ID: 0x11.

  2. Attach J1 Motor to J1_A

    Attach the rear of the J1 motor to J1_A using five M4x10 bolts. Ensure the power and communication ports on the motor remain accessible. Confirm that this motor has been configured to have ID: 0x01 and Master ID: 0x11.

  3. Attach J1_B to J1 Motor

    Attach J1_B to the J1 motor using three M4x8 bolts. The mechanical stop should face the motor’s power port and be on the top side.

    TIP: For the left arm assembly, part J1_B must be oriented slightly differently. Refer to the assembly images to confirm the correct orientation. Ensure that the Power+CAN ports on the J1 motor face forward, with the mechanical stop positioned toward the ports and at the top.

  4. Attach J1_C to J1 Rotor

    Attach the J1_C part to the rotor of J1 using six M5x10 bolts. Ensure the part is fully seated and evenly tightened.

  5. Attach J1_D to J1_C

    Attach J1_D to J1_C using two M4x10 bolts. Verify that J1_D is correctly oriented according to the assembly diagrams.

  6. Attach J1_E to J1_C

    Attach J1_E to J1_C using three M4x10 bolts. Ensure that J1_E is aligned properly with J1_D to receive the J2 motor.

  7. Insert and Fasten J2 Motor (DM8009)

    Carefully insert the DM8009 J2 motor between J1_D and J1_E, with the ports facing directly toward J1 and the rear of J2 facing J1_E. Then fasten J1_E to the J2 motor using two M4x8 bolts.

  8. Fasten J1_D to J2 Motor

    Attach J1_D to the J2 motor using three M4x8 bolts to complete the J1-J2 sub-assembly. Confirm that the J2 motor is securely clamped between J1_D and J1_E, with its ports oriented toward J1.

3. J2-J3 sub-assembly

Assembly · 3 steps · No ratings yet

3 steps

  1. Step 1: Attach J2_A to J2_B

    WARNING

    Before starting this assembly, configure motor IDs by following Step 1: Setup Motor ID in the OpenArm Assembly Guide.

    1. Attach J2_A to J2_B using two (2) M4x10 bolts.

  2. Step 2: Place J2_C over J2_A and J2_B

    1. Carefully place J2_C over J2_A and J2_B such that the holes align. Attach J2_C to J2_A using four (4) M4x6 bolts.

  3. Step 3: Secure J2_C to J2_B

    1. Attach J2_C to J2_B using four (4) M4x6 bolts.

    INFO

    That concludes the J2-J3 Sub-Assembly.

4. J3-J4 sub-assembly

Assembly · 7 steps · No ratings yet

7 steps

  1. Attach J4_A to J3 motor

    Step 1: Attach J4_A to the J3 motor using six M3x6 bolts. Make sure the two Power+CAN ports on the J3 motor face the front and rear for easy wiring.

    Tip: Keep the communication port of the J3 motor on the right side.

  2. Mount bearing onto J4_B

    Step 2: Mount the bearing FL6803ZZ onto J4_B.

  3. Place J4_B on J4_A

    Step 3: Place J4_B on the interior side of J4_A, aligning the holes. Do not fasten them yet.

  4. Install J4 motor between J4_A and J4_B

    Step 4: Carefully slide the J4 motor between J4_A and J4_B. Align it with the holes on J4_B. Refer to the photo for correct positioning of the Power+CAN port. Fasten the J4 motor with part J4_B using four M3x6 bolts.

    Tip: Keep the communication port of the J4 motor in the position shown in the figure.

  5. Fasten J4_A to J4_B

    Step 5: Fasten J4_A to J4_B using six M3x6 bolts.

  6. Fasten J4_A to J4 motor

    Step 6: Fasten J4_A to the J4 motor using six M3x6 bolts.

  7. Insert post AETTS8-61-SC0-M3-N3

    Step 7: Carefully insert the post AETTS8-61-SC0-M3-N3 between the flanges of J4_A and fasten them with two M3x6 bolts.

    Info: That concludes the J3-J4 Sub-Assembly.

5. J4-J5 sub-assembly

Assembly · 7 steps · No ratings yet

7 steps

  1. Prerequisites for J4-J5 Sub-Assembly

    WARNING

    Before starting the J4-J5 sub-assembly, ensure that all motor IDs are configured.

    Follow Step 1: Setup Motor ID to configure motor IDs before proceeding.

  2. Attach J4_C to J4 Motor Rotor

    1. Attach the component J4_C to the rotor of the J4 motor using six (6) M3x6 bolts.

    Ensure all bolts are evenly tightened to secure the rotor connection.

  3. Mount J4_D onto Bearing FL6803ZZ

    2. Mount the component J4_D onto the bearing FL6803ZZ.

    Verify that J4_D is fully seated on the bearing before proceeding to the next step.

  4. Attach J4_E to J4_C

    TIP

    Align the component J4_E vertically with the mechanical stop on J4_C before fastening to ensure correct orientation.

    3. Attach the component J4_E to J4_C using six (6) M3x6 bolts.

  5. Install J5 Motor Between J4_D and J4_E

    4. Place the J5 motor between J4_D and J4_E and fasten them using six (6) M3x6 bolts.

    Ensure that the Power+CAN ports are facing the front and rear for effective wiring.
    Keep the communication port facing towards the part J4_E.

  6. Install AETTS8-74.2-SC0-M3-N3 Posts

    5. Carefully place two posts AETTS8-74.2-SC0-M3-N3 between the components J4_D and J4_E, and fasten them using M3x6 bolts.

  7. Complete J4-J5 Sub-Assembly

    That concludes the J4-J5 Sub-Assembly. Verify that all bolts are securely fastened and that the J4 and J5 joints move smoothly without binding.

6. J5-J6-J7 sub-assembly

Assembly · 16 steps · No ratings yet

16 steps

  1. J5-J6-J7 Sub-Assembly Overview

    WARNING

    Before starting this sub-assembly, make sure all motor IDs are configured according to Step 1: Setup Motor ID in the OpenArm Assembly Guide.

    This section covers the J5-J6-J7 sub-assembly for one arm (right or left). Follow all orientation notes and tips carefully.

  2. Install bearing FL6700ZZ into J6_B and insert J7_B

    1. Install the FL6700ZZ bearing into the sheet metal component J6_B.
    2. Gently insert J7_B into the bearing, aligning it as shown in the reference figure.

  3. Install bearing FL6700ZZ into J6_A and insert J7_B

    1. Install the FL6700ZZ bearing into the sheet metal component J6_A.
    2. Gently insert J7_B into the bearing, aligning it as shown in the reference figure.

  4. Attach J5_A to J5 motor rotor

    Attach J5_A to the rotor of the J5 motor using six (6) M3x18 bolts. Ensure the part is seated flat against the rotor and the bolt pattern matches the reference image.

  5. Attach J6_B to J5_A

    Attach the sheet metal component J6_B to J5_A using three (3) M3x8 bolts. Make sure J6_B is rotated so that it is aligned toward the mechanical stop of J5_A as shown in the figure.

  6. Attach J6_A to J5_A

    Attach the sheet metal component J6_A to J5_A using three (3) M3x8 bolts. Confirm that the orientation of J6_A mirrors J6_B and matches the reference image.

  7. Attach J6_D to J6 motor

    Attach component J6_D to the J6 motor using four (4) M3x6 bolts. Align J6_D so that its top and bottom edges line up with the two Power+CAN ports on the motor housing.

  8. Attach J7_E to J6 rotor

    Attach J7_E to the rotor of the J6 motor using six (6) M3x6 bolts. Ensure the part is centered on the rotor and oriented according to the reference image.

  9. Mount J6 motor between J6_A and J6_B

    1. Carefully place the J6 motor between the sheet metal parts J6_A and J6_B.
    2. Secure the motor to J6_A using four (4) M3x6 bolts.
    3. As a check, the communication port of the J6 motor should be in line with J7_E.

    TIP: When looking straight at J6_B, J7_E should protrude to the right for the right arm, and to the left for the left arm.

  10. Attach J7_A to J7 motor

    Attach part J7_A to the rotor of the J7 motor using three (3) M3x8 bolts. Match the orientation to the reference image, with the top bolt aligned with the Power+CAN port.

  11. Mount J7_C to back of J7 motor

    Using two (2) M3x8 bolts, mount part J7_C to the back of the J7 motor as shown. Check that J7_C is aligned correctly and runs parallel to the line between the two Power+CAN ports.

    TIP: For the left arm, mount J7_C on the opposite side of the motor compared to the right arm.

  12. Insert MR106ZZ1 bearings into J7_D_right / J7_D_left

    Insert bearings MR106ZZ1 into the two holes of part J7_D_right.

    TIP: When assembling the left arm, use part J7_D_left instead of J7_D_right.

  13. Place J7 motor between J6_A and J6_B and attach J7_B pieces

    1. Carefully place the J7 motor between the J6_A and J6_B sheet metal pieces.
    2. Attach the two J7_B pieces to J7_A using two (2) M3x8 bolts on each side.

    TIP: After this step, J7_C and J7_E should face the same direction.

  14. Attach J7_D_right / J7_D_left to J7_C and J7_E with step bolt assembly

    Attach the component J7_D_right to both J7_C and J7_E using the step bolt DBSY4-6-5. Install four (4) washers SWSPS12-6-0.5: one between the step bolt head and J7_D, and one between J7_D and each of J7_C and J7_E, as shown.

    TIP: While assembling the left arm, use part J7_D_left instead of J7_D_right.

  15. Install J6_C_right / J6_C_left between J6_A and J6_B

    Carefully insert the part J6_C_right between J6_A and J6_B and secure it using three (3) M3x6 bolts.

    TIP: When assembling the left arm, use component J6_C_left instead.

  16. J5-J6-J7 Sub-Assembly complete

    The J5-J6-J7 sub-assembly is now complete. Verify that all bolts are tightened to the specified torque, moving parts rotate smoothly, and all orientation notes for right/left arms have been followed.

7. End-effector (gripper) sub-assembly

Assembly · 14 steps · No ratings yet

14 steps

  1. Leader End-Effector Sub-Assembly - Overview

    This sub-assembly builds the leader arm's gripper. The J8 motor turns a swivel rotor, and two swivel links turn that rotation into the opening and closing of two pincers that slide on a linear guide. Before you start, set the J8 motor ID as described in the official OpenArm setup guide, and have a soldering iron ready for the heat-set inserts.

  2. Attach J8_A to J8_B

    Attach J8_A to J8_B with the highlighted bolts, aligned as shown. J8_A is the part that will later connect to the J7 motor in the final assembly.

  3. Insert Heat-Set Inserts into Pincers

    Use a soldering iron to press the highlighted heat-set inserts into both pincers. Keep each insert straight and flush with the surface, and let the plastic cool before putting any load on it.

  4. Insert Heat-Set Inserts into Rail Connector

    Press the highlighted heat-set inserts into the rail connector in the same way, keeping them straight and flush.

  5. Insert Bearings into Swivel Link

    Make sure that each of the 2 bearings are inserted from opposite ends

  6. Insert Heat-Set Inserts into Swivel Rotor

    Press the highlighted heat-set inserts into the swivel rotor, keeping them straight and flush.

  7. Attach Rail Connector to J8 Motor

    Place the motor inside the rail then insert into place

  8. Fasten Rail Connector with M3×15 Bolts

    Fasten the rail connector to the J8 motor with the highlighted M3x15 bolts. Tighten them evenly.

  9. Connect Swivel Rotor to J8 Rotor

    Fit the swivel rotor onto the J8 motor's rotor in the orientation shown and fasten it with the highlighted bolts.

  10. Attach Swivel Links to Swivel Rotor

    Attach one end of each swivel link to the swivel rotor as shown. The links must pivot freely, so do not overtighten the bolts.

  11. Attach Linear Guide to Rail Connector

    Fasten the linear guide rail to the rail connector with the highlighted bolts, keeping it straight and centred.

  12. Mount Pincers on Slider Blocks

    Fasten each pincer to its slider block on the linear guide. Check that both pincers slide smoothly along the rail.

  13. Attach Swivel Links to Pincers

    Connect the free end of each swivel link to its pincer. Turn the swivel rotor gently by hand: both pincers should open and close together, evenly and without binding.

  14. Mount Subassembly to Rear of J8 Motor

    Mount the J8_A / J8_B sub-assembly from step 2 on the rear of the J8 motor with the highlighted bolts. The end-effector is now complete and ready to connect to J7 in the final assembly.

8. Final assembly

Assembly · 5 steps · No ratings yet

5 steps

  1. Attach J2-J3 Sub-Assembly to J3 motor

    1. Attach the J2-J3 Sub-Assembly to the rotor of the J3 motor using six (6) M3x15 bolts. to be able to insert all bolts you have to rotate the joint and insert the bolts 1 by 1 depending on which hole is vacant while rotating the joint

  2. Attach J2_A to J2 motor

    1. Attach J2_A to the rotor of the J2 motor using six (6) M5x10 bolts.

  3. Connect J8_A to J7 motor

    1. Connect the J8_A component from the Gripper Sub-Assembly to the rotor of the J7 motor using six (6) M3x15 bolts.

  4. Mount arms on pedestal

    1. Mount the arms on the pedestal using four (4) M6x12 bolts in J1_A. Ensure T-slot nuts are inserted in the aluminium extrusion and align the top of J1_A with the top of the extrusion.

  5. Add covers (Optional)

    (Optional) To protect the joints you can buy or 3d print covers and place them on the arms

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