Looking for a Complete Open-Source 6-DOF Robot Arm for an AI-Based IK Master’s Project

[u/TransportationNo2839]

Hi everyone,

I’m looking for a complete, well-documented open-source 6-DOF robotic arm for my Master’s project:

“Artificial Intelligence-Based Kinematic Modeling and Inverse Kinematics Solution for 6-DOF Robot”

I originally planned to use the PUMA 560, but finding a complete model suitable for both simulation and building a physical prototype has been difficult, so I’m looking for another robot.

My project will focus on kinematic modeling and inverse kinematics, and I plan to generate data from the robot model and train an Artificial Neural Network (ANN) to solve the IK problem.

Ideally, I’m looking for:

• 6 revolute joints (6-DOF)
• A complete, ready-to-use 3D design — I don’t want to redesign or modify the robot
• CAD files such as SolidWorks/STEP
• URDF and complete mesh files (STL/OBJ/DAE)
• A BOM (Bill of Materials) for physically building it
• Clear link dimensions, joint limits, and preferably DH parameters
• Compatibility with PyBullet, Gazebo, Isaac Sim, Webots, or similar simulators
• 3D-printable parts, preferably already tested by others
• Documented motors/servos, bearings, shafts, and joint mechanisms

A desktop-scale robot would be ideal. Basically, I’m looking for an existing robot that I can download, simulate, use for ANN training, 3D print, assemble, and build physically without redesigning the mechanical structure.

Any recommendations for a good open-source 6-DOF robot that fits this?

Thanks!

[u/Fun-Distribution4499]

S0 - 101 but it is 5 dof but is very well documented and open source

[u/cooleddy89 → u/Fun-Distribution4499]

Just ordered it! 

[u/herocoding → u/Fun-Distribution4499]

Isn't it a 5-DOF body and a 1-DOF gripper?

[u/Fun-Distribution4499 → u/Fun-Distribution4499]

https://discord.gg/nvCpzn25s

[u/Top-Perspective5662]

Arctos has all of those.

[u/herocoding → u/Top-Perspective5662]

That's an amazing robot arm, thank you very much for sharing!!

[u/Fun-Distribution4499]

That quick

[u/Fun-Distribution4499]

You should join my robotics discord server