Source-Robotics/PAR6-Collaborative-Robot-Arm
PAR6 is a physical manipulator from Source-Robotics, published with partial source BOM data and open build inputs.
Source repository: https://github.com/Source-Robotics/PAR6-Collaborative-Robot-Arm
Project facts
- Category: manipulator
- Kind: physical design
- License: cern-ohl-s-2.0
- GitHub stars: 33
- BOM lines indexed: 71
- Last updated: 2026-08-26
Bill of materials (71 lines)
- DIN 912 / ISO 4762 (Socket head cap) — 7 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 50 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 33 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 4 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 2 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 2 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 6 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 8 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 6 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 3 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 16 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 4 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 4 each (purchased, unresolved)
- Tapered / Countersunk screw head — 5 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 8 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 4 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 8 each (purchased, unresolved)
- DIN 912 / ISO 4762 (Socket head cap) — 12 each (purchased, unresolved)
- Threadlocker blue — 1 each (purchased, unresolved)
- Threadlocker green — 1 each (purchased, unresolved)
- Gearbox 20:1 — 1 each (purchased, unresolved)
- Gearbox 10:1 — 1 each (purchased, unresolved)
- Gearbox 25:1 — 1 each (purchased, unresolved)
- Gearbox 20:1 — 1 each (purchased, unresolved)
- Gearbox 10:1 — 1 each (purchased, unresolved)
- Gearbox 25:1 — 1 each (purchased, unresolved)
- Stepper 17HS08-1004S — 1 each (purchased, unresolved)
- Stepper 17HS16-2004S1 — 2 each (purchased, unresolved)
- Stepper 17HS24-2104S — 3 each (purchased, unresolved)
- Joint 1 belt — 1 each (purchased, unresolved)
- Joint 3 belt — 1 each (purchased, unresolved)
- Joint 4 belt — 1 each (purchased, unresolved)
- Joint 5 belt — 1 each (purchased, unresolved)
- J4/J5 Pulley — 2 each (purchased, unresolved)
- J1 Pulley — 1 each (purchased, unresolved)
- Shaft coupler — 2 each (purchased, unresolved)
- Shaft coupler — 2 each (purchased, unresolved)
- Shaft coupler — 2 each (purchased, unresolved)
- Shaft coupler — 1 each (purchased, unresolved)
- AXK3552 — 1 each (purchased, unresolved)
- NSK HR32906J — 5 each (purchased, unresolved)
- NSK HR32907J — 4 each (purchased, unresolved)
- Tensioning bearing — 2 each (purchased, unresolved)
- Tensioning bearing — 8 each (purchased, unresolved)
- Brass inserts — 6 each (purchased, unresolved)
- Closed loop Stepper Drivers — 6 each (purchased, unresolved)
- Gripper connector PCB — 1 each (purchased, unresolved)
- Hall sensor PCB — 1 each (purchased, unresolved)
- Base Distribution PCB — 1 each (purchased, unresolved)
- Motor controller Magnets — 6 each (purchased, unresolved)
- Gripper Magnet — 1 each (purchased, unresolved)
- Thermistor — 6 each (purchased, unresolved)
- Robot base connector — 1 each (purchased, unresolved)
- E-stop — 1 each (purchased, unresolved)
- Connectors JST ZH 1.5MM 2PIN male — 10 each (purchased, unresolved)
- Connectors JST XH 2.54MM 2PIN male — 10 each (purchased, unresolved)
- Thermal cement — 1 each (purchased, unresolved)
- JST ZH 1.5MM 2PIN female-female 20-30cm — 3 each (purchased, unresolved)
- JST XH 2.54MM 2PIN female-female 20-30cm — 3 each (purchased, unresolved)
- JST ZH 1.5MM 2PIN female-male 23cm — 2 each (purchased, unresolved)
Repository files indexed (8)
4 CAD models, 2 URDF robot descriptions, 2 documents. Paths are exactly as they appear in the project's repository; RoboPartPicker lists only files it has actually indexed.
CAD models (4)
- 3D Print Files/STL/A0_End_effector/PAR6_flange.STL
- 3D Print Files/STL/A0_End_effector/SSG48 gripper needed parts/SSG48_gripper_spacer.STL
- 3D Print Files/STL/A1_Wrist/Stepper_spacer_J6.STL
- 3D Print Files/STL/A1_Wrist/Wrist_lid.STL
URDF robot descriptions (2)
- PAR6 Description/URDF/par6_flange/urdf/par6_flange.urdf
- PAR6 Description/URDF/par6_msg_gripper/urdf/PAR6_MSG.urdf
documents (2)
- PAR6 Description/readme.md
- README.md
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