# Strong, Accurate, and Low-Cost Robot Manipulator

arXiv: https://arxiv.org/abs/2507.15693 · HTML: https://mlsanity.com/paper/2507.15693/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Jul 2025.

## Built on by (most cited first, 1 of 1)

- [Reproducible Vision-Guided 6-DoF Robotic Manipulator with a Mixed Stepper-Driver Architecture and Browser-Native Control](https://mlsanity.com/paper/2608.22799/) (2026)

## Abstract (arXiv)

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.