G-ARM: An open-source and low-cost robotic arm integrated with ROS2 for educational purposes
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2025-03-26
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Springer
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The high cost of industrial robots limits their accessibility in academic settings. This research addresses this by developing a low-cost, 3D-printable robotic arm for educational use, designed using the open-source tool FreeCAD and affordable hardware components. The robot is integrated with ROS 2 Humble and MoveIt 2, enabling motion planning and control, and includes a simulator for virtual testing and prototyping. The robot was evaluated over eight months in the Industrial Robotics and Software Architectures for Robots courses at Rey Juan Carlos University. It demonstrated durability, ease of use, and practical feasibility, making it a suitable platform for training robotics professionals. This work highlights the potential of affordable robotics to enhance education and provides a scalable, replicable solution for academic institutions.
Descripción
The project successfully developed a cost-effective robotic arm for educational purposes, achieving key milestones in design, functionality, and deployment. Implemented in two courses at Rey Juan Carlos University—Industrial Robotics and Software Architectures for Robots—it provided students with hands-on experience in robotic manipulation, trajectory planning, and ROS 2 integration. Its lightweight, 3D-printed structure, low power consumption (under 20W), and manufacturing cost of €171, well within the €200 budget, make it an accessible and efficient tool for robotics education.
Integrated with the ROS 2 ecosystem and MoveIt 2 framework, the robotic arm received positive feedback from students and educators for its ease of use and effectiveness in bridging theoretical concepts with practical applications. However, areas for improvement were identified, such as increasing robustness for long-term use and incorporating advanced features.
Future developments include adding a fourth degree of freedom to the end effector, designing specialized tools, implementing a simulation environment, and developing custom firmware for improved low-level control. These enhancements will further strengthen its capabilities and educational value.
The project's success demonstrates the potential of affordable, hands-on robotic systems to transform robotics education. Its accessibility and scalability allow for expansion into additional courses and disciplines, contributing to the development of modern robotics curricula.
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Vega, J., Pérez, V. G-ARM: An open-source and low-cost robotic arm integrated with ROS2 for educational purposes. Multimed Tools Appl (2025). https://doi.org/10.1007/s11042-025-20748-8
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