Nuwan Jaliyagoda

This is an advanced, high-precision robotic arm with five degrees of freedom (5 DOF), built around stepper motors on every joint. Unlike typical hobby-servo arms, the stepper-driven design delivers smooth, repeatable, and accurate positioning suitable for fine manipulation tasks.

The firmware is based on GRBL-5x, a multi-axis extension of the widely used open-source GRBL motion-control firmware, which allows the arm to be driven using standard G-code commands. The mechanical structure was custom designed and fabricated from 3 mm and 5 mm aluminum composite (cladding) boards, giving the arm a frame that is both lightweight and rigid.

A short demonstration of the robot arm in operation is available on YouTube.