Auto-assembled, not yet reviewed

BCN3D Moveo

Open-source 3D-printed 5-axis educational robotic arm driven by stepper motors.

Dormant. No upstream changes for two years or more. It may still build, but parts, firmware and docs may have drifted.

Last push to BCN3D/BCN3D-Moveo: 2022-03-01 (GitHub, checked 2026-10-01).

Repository activity

Reproducibility65/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
BCN3D Moveo source parts laid out side by side, 3D render from Gripper Left.STL (not the assembled robot)
Parts preview: not the assembled robot ยท Gripper Left.STL

About BCN3D Moveo

The BCN3D Moveo is an open-source, 3D-printed educational robotic arm from BCN3D Technologies and the Generalitat de Catalunya education department. The repository includes SolidWorks CAD assemblies, STL part exports, a user and assembly manual, a BOM PDF, and Marlin-based firmware for Arduino and RAMPS electronics. The 3D view shows only the gripper and tool parts from the STL exports, not the full arm. The repository has not been updated since 2016.

Licenses

Hardware
MIT
Software
GPL-3.0-or-later
Docs
MIT

Degrees of freedom

6 DoF arm 5gripper 1

Breakdown source

Serial armsource

How to build BCN3D Moveo

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Print the structural parts

    Print the parts in the STL files folder (Articulation 1 to 4, Base, Cover, Electronics box, Machine tool) using the quantities in the Printed Parts section of the BOM PDF.

    Motari summarygithub.com/BCN3D/BCN3D-Moveo/blob/master/USER%20MANUAL/User%...

  2. Source mechanical hardware

    Gather NEMA stepper motors, bearings, belts, and fasteners per the repo BOM document.

    Upstream stepgithub.com/BCN3D/BCN3D-Moveo/blob/0866a92501277636f76000a195...

  3. Assemble the arm

    Follow the assembly manual (English and Spanish) to build up the 5 axes.

    Motari summarygithub.com/BCN3D/BCN3D-Moveo/blob/master/USER%20MANUAL/User%...

  4. Wire the electronics

    Wire the electronics listed in the BOM: Arduino Mega 2560 with RAMPS 1.4, six TB6560 stepper drivers, a 24 V 320 W power supply, a 24 V to 12 V converter and two 24 V fans. The user manual's Connections page (page 37) shows how to wire one TB6560 driver: step, direction, enable and GND inputs, 10 to 24 V power and the stepper motor.

    Motari summarygithub.com/BCN3D/BCN3D-Moveo/blob/master/USER%20MANUAL/User%...

  5. Flash and tune firmware

    Open Marlin_BCN3D_Moveo.ino in the Arduino IDE, select Arduino Mega 2560 and upload, then connect with Pronterface at 250000 baud to jog the axes and run G-code sequences, per the user manual.

    Motari summarygithub.com/BCN3D/BCN3D-Moveo/blob/master/USER%20MANUAL/User%...
Print timenot published
Assembly timenot published

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

BCN3D Moveo bill of materials

92 rows

Cost to build

The sources do not publish a cost total. The rows below are what they list, without a sum.

BCN3D Moveo parts, as the source lists them (read 2026-06-07). Prices are the source's, not checked against vendors.

BCN3D Moveo bill of materials
PartQtySpecSourceConfidence
Stepper Motor SM42HT47-1684 1.8 deg step, 1.6 A, 3600 g-cmComponents, row 1 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Arduino Mega 2560Components, row 2 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Stepper Driver TB6560Components, row 3 of the project's BOM
6
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Power Supply 24V 320WComponents, row 4 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
RAMPS V1.4Components, row 5 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Power converter 24V to 12VComponents, row 6 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Servo Motor 180 deg 55G torque 13 kg-cmComponents, row 7 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
5:1 planetary gearbox Nema 17 stepper 17HS19-1684S-PG5, 0.35 deg step, 2 Nm, 1.68 AComponents, row 8 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Nema 23 SM57HT112-3004A, 112 mm, 8 mm flat shaft, 1.8 deg step, 3 A, 28 kg-cmComponents, row 9 of the project's BOM
2
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Stepper Motor SM35HT36-1004A, 1.8 deg step, 1 A, 1400 g-cmComponents, row 10 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Stepper Motor Nema 17 SM42HT33-1334, 1.8 deg step, 1.33 A, 2200 g-cmComponents, row 11 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Chrome steel smooth bar, 134 mmComponents, row 12 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Chrome steel smooth bar, 114 mmComponents, row 13 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Chrome steel smooth bar, 80 mmComponents, row 14 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Ball Bearing 608ZZ 8 mm x 22 mm x 7 mmComponents, row 15 of the project's BOM
10
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Ball Bearing 625ZZ 5 mm x 16 mm x 5 mmComponents, row 16 of the project's BOM
8
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Ball Bearing 624ZZ 4 mm x 13 mm x 5 mmComponents, row 17 of the project's BOM
9
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Ball Bearing 623ZZ 3 mm x 10 mm x 4 mmComponents, row 18 of the project's BOM
3
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Brass insert M4Components, row 19 of the project's BOM
3
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Brass insert M3Components, row 20 of the project's BOM
20
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Pulley T5, bore 8 mm, 14 tooth, 17 mm widthComponents, row 21 of the project's BOM
3
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Pulley T5, bore 5 mm, 10 tooth, 17 mm widthComponents, row 22 of the project's BOM
2
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Rod bar M8, 42 mm lengthComponents, row 23 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Rigid steel coupling 5 mm to 8 mmComponents, row 24 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Axial fan DC 24V 80 x 80 mmComponents, row 25 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Axial fan DC 24V 50 x 50 mmComponents, row 26 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Power supply cable IEC 1.8 mComponents, row 27 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Cable USB 2.0 AM/BM 1.8 mComponents, row 28 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Cable tiesComponents, row 29 of the project's BOM
10
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Self-oil bearing 5 mm x 8 mm x 10 mmComponents, row 30 of the project's BOM
8
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Self-oil bearing 8 mm x 12 mm x 20 mmComponents, row 31 of the project's BOM
2
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Wood base, 550 mm x 550 mm x 16 mmComponents, row 32 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Breco belt T5, 16 mm width, 180 cm lengthComponents, row 33 of the project's BOM
11.8 m length
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M3 x 10 mm screwFasteners, row 101 of the project's BOM
30
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M3 x 12 mm screwFasteners, row 102 of the project's BOM
6
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M3 x 16 mm screwFasteners, row 103 of the project's BOM
13
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M3 x 20 mm screwFasteners, row 104 of the project's BOM
4
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M3 x 25 mm screwFasteners, row 105 of the project's BOM
5
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M3 x 30 mm screwFasteners, row 106 of the project's BOM
2
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M3 x 40 mm screwFasteners, row 107 of the project's BOM
7
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M4 x 12 mm screwFasteners, row 108 of the project's BOM
2
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M4 x 10 mm screwFasteners, row 109 of the project's BOM
2
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M4 x 16 mm screwFasteners, row 110 of the project's BOM
8
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M4 x 40 mm screwFasteners, row 111 of the project's BOM
4
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M4 x 45 mm screwFasteners, row 112 of the project's BOM
6
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M4 x 60 mm screwFasteners, row 113 of the project's BOM
4
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M5 x 14 mm screwFasteners, row 114 of the project's BOM
120
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M5 x 20 mm screwFasteners, row 115 of the project's BOM
8
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M8 x 65 mm screwFasteners, row 116 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M4 x 25 mm screwFasteners, row 117 of the project's BOM
4
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M3 nutFasteners, row 118 of the project's BOM
30
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M4 nutFasteners, row 119 of the project's BOM
4
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M4 locknutFasteners, row 120 of the project's BOM
18
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M5 locknutFasteners, row 121 of the project's BOM
16
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M8 locknutFasteners, row 122 of the project's BOM
2
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M4 x 20 mm screwFasteners, row 123 of the project's BOM
3
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M3 x 8 mm screwFasteners, row 124 of the project's BOM
4
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M4 x 30 mm screwFasteners, row 125 of the project's BOM
8
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M3 x 35 mm screwFasteners, row 126 of the project's BOM
4
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
M3 washerFasteners, row 127 of the project's BOM
10
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
1M1 printed partPrinted Parts, row 202 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Articulation 1 1M2 printed partPrinted Parts, row 203 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
1M3 printed partPrinted Parts, row 204 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
2M1 printed partPrinted Parts, row 205 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
2M2M printed partPrinted Parts, row 206 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Articulation 2 2M2H printed partPrinted Parts, row 207 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
T2M1D printed partPrinted Parts, row 208 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
T2M1I printed partPrinted Parts, row 209 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
3M1 printed partPrinted Parts, row 210 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
3M2C printed partPrinted Parts, row 210A of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
3M2 printed partPrinted Parts, row 211 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
T3M1 printed partPrinted Parts, row 212 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
4M1 printed partPrinted Parts, row 213 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
4M2 printed partPrinted Parts, row 214 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
4M2C printed partPrinted Parts, row 215 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
T4M1 printed partPrinted Parts, row 216 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Top plate printed partPrinted Parts, row 217 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Bottom plate printed partPrinted Parts, row 218 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Cylinder printed partPrinted Parts, row 219 of the project's BOM
2
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Pivot arm printed partPrinted Parts, row 220 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Gripper left printed partPrinted Parts, row 221 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Gripper right printed partPrinted Parts, row 222 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Idler gear printed partPrinted Parts, row 223 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Servo gear printed partPrinted Parts, row 224 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Box printed partPrinted Parts, row 225 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Electronics box fan module printed partPrinted Parts, row 226 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Driver support printed partPrinted Parts, row 227 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Base foot printed partPrinted Parts, row 228 of the project's BOM
4
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Tapa 2M1 cover printed partPrinted Parts, row 229 of the project's BOM
2
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Tapa 3M1 cover printed partPrinted Parts, row 230 of the project's BOM
2
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Tapa 4M1 cover printed partPrinted Parts, row 231 of the project's BOM
2
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high
Tapa TBB cover printed partPrinted Parts, row 232 of the project's BOM
1
vendor not namedprice not listedFrom BCN3D Moveo BOM.pdf in the project's repository
high

Rows from the source's own parts list 3

README.md@0866a92markdown

Source rowQtyPrice and vendorLine
Moveo repository source package
BCN3D repositoryno price listed
L3
Moveo BOM/CAD/STL/manual/firmware package
BCN3D repositoryno price listed
L25

BOM/BCN3D Moveo BOM.pdf@0866a92pdf

Source rowQtyPrice and vendorLine
BCN3D Moveo parsed BOM rows
92 rows
BCN3D repositoryno price listed
L1

BCN3D Moveo source files

14 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

BCN3D Moveo in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

No URDF, MJCF, SDF, USD or Onshape model has been found in the sources.

The 3D specimen on this page is converted from STL files/Machine - tool/Gripper Left.STL at 0866a92, with the parts laid out side by side because the source has no assembly.

Builds of BCN3D Moveo

0 reviewed

No reviewed builds of BCN3D Moveo yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Last push to BCN3D/BCN3D-Moveo: 2022-03-01 (checked 2026-10-01)

Related links

How this page was made

Assembled from public sources on 2026-06-04, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: BOM/manual files pinned; cost not verified.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain BCN3D Moveo? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 65/100

Markdown
[![Motari reproducibility score for BCN3D Moveo](https://motari.io/api/v1/badge/bcn3d-moveo)](https://motari.io/r/bcn3d-moveo)
HTML
<a href="https://motari.io/r/bcn3d-moveo"><img src="https://motari.io/api/v1/badge/bcn3d-moveo" alt="Motari reproducibility score for BCN3D Moveo" height="20"></a>

Not fully met yet: bom evidence (partial), wiring diagram. The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed