低成本3D打印机械臂实现工业级精度，仅215美元
Strong, Accurate, and Low-Cost Robot Manipulator
- 用3D打印+缆绳传动设计，轻量化结构提升刚性
- 0.63公斤负载、0.467米伸展、亚毫米重复精度
- 适合教学与机器人研究，无需高价电机或制造
本文提出Forte，一款全3D打印、6自由度的机械臂，可实现接近工业级性能：0.63公斤载荷、0.467米作业半径、亚毫米级重复精度，材料成本低于215美元。作为面向课堂教育与人工智能实验的高性价比机器人，Forte突破了现有低成本教学机械臂的性能瓶颈。其采用低成本机械设计，结合缆绳驱动、同步带、简易张紧机构及拓扑优化的轻量化结构，通过精细传动系统工程，有效降低背隙并保持控制精度，无需依赖高功率电子元件或昂贵制造工艺。实验验证表明，Forte在重复性与负载能力上表现优异，为课堂教学与先进机器人研究提供了极具吸引力的平台。
原文摘要 · Abstract (English)
This paper presents Forte, a fully 3D-printable, 6-DoF robotic arm designed to achieve near industrial-grade performance - 0.63 kg payload, 0.467 m reach, and sub-millimeter repeatability - at a material cost under $215. As an accessible robot for broad applications across classroom education to AI experiments, Forte pushes forward the performance limitations of existing low-cost educational arms. We introduce a cost-effective mechanical design that combines capstan-based cable drives, timing belts, simple tensioning mechanisms, and lightweight 3D-printed structures, along with topology optimization for structural stiffness. Through careful drivetrain engineering, we minimize backlash and maintain control fidelity without relying on high-power electronics or expensive manufacturing processes. Experimental validation demonstrates that Forte achieves high repeatability and load capacity, offering a compelling robotic platform for both classroom instruction and advanced robotics research.
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