Auto-assembled, not yet reviewed

OpenArm

7-DoF open-source arm and gripper on DAMIAO CAN motors for physical AI.

CERN-OHL-S-2.0
robot arm8 DoF
cost not published

Reproducibility89/100Strong source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed

OpenArm open-source 8-DoF robot arm, 3D render from v2.urdf

full robot 3D · v2.urdf

Source record

Sources: enactic/openarm_hardware @eefc9fa
enactic/openarm_description @846a82d
522 stars, last push 2026-09-09
HW license: CERN-OHL-S-2.0
Cost: not published
Lifecycle: Active
Engine: v3.1.1
Checked: 2026-10-01
Model: v2.urdf@846a82drendered 2026-06-08
Envelope: 854 × 979 × 250 mmas modelled, default pose

Maintain OpenArm? Claim this page to correct it.

OpenArm reproducibility score

How confidently this design builds into a working robot, from what its sources publish: each criterion's points, quality tier and evidence.

metCAD / mesh presentReviewedPublic Google Drive file OpenArm_2.0.STEP, the full v2 arm assembly exported from SolidWorks. The engine does not open Drive links.20/20
Quality tier 3 of 3
Reviewed override, 2026-09-30
Evidence on drive.google.com
Engine alone: partial at tier 1 (archive openarm-hardware-2.0.0.tar.gz (release 2.0.0) could not be inspected)
- openarm-hardware-2.0.0.tar.gz (release 2.0.0)
metBOM evidenceReviewedThe v1.0 Procuring Components page covers the whole arm: actuators with quantities and JPY prices, and the manufactured, off-the-shelf, pedestal, gripper and electrical tables with group totals.20/20
Quality tier 3 of 5
Reviewed override, 2026-09-30
Evidence on docs.openarm.dev
Engine alone: missing at tier 0 (no BOM found)
metWiring diagramReviewedDocs arm wiring page shows the cable topology on the arm and per-cable connection diagrams (J3-J4, J4-J7), then routing steps with photos. The engine does not read docs.openarm.dev.15/15
Quality tier 2 of 3
Reviewed override, 2026-09-30
Evidence on docs.openarm.dev
Engine alone: missing at tier 0 (no wiring diagram found)
metFirmware linkedReviewedEnactic's own openarm_can is the C++ CAN control library for the arm's Damiao motors, with openarm_ros2 on top; the listing has no software source for it, so the engine did not read it.10/10
Quality tier 2 of 3
Reviewed override, 2026-09-30
Evidence on github.com
Engine alone: missing at tier 0 (no firmware found)
metBuild instructionsReviewedDocs assembly guide gives numbered sub-assembly steps (J1-J2 through final assembly) with an image per step. No build video found. The engine does not read docs.openarm.dev.15/15
Quality tier 2 of 3
Reviewed override, 2026-09-30
Evidence on docs.openarm.dev
Engine alone: partial at tier 1 (external build guide linked, not inspected by the engine)
- guide on docs.openarm.dev, not inspected by the engine
- guide on docs.openarm.dev, not inspected by the engine
metOSHW-compatible licenseCERN-OHL-S-2.0 (from README license statement)10/10
Quality tier 2 of 2
- README.mdeefc9fa
missingKnown reproductionsno verified builds yet0/10
Quality tier 0 of 2
Only build reports a maintainer or admin has reviewed count here.

Capped at 89: the criteria add up to 90, and a score of 90 or more needs a reviewed build.

Engine v3.1.1 at eefc9fa, 5 items reviewed by hand

The engine found no joint model or stated figure to count degrees of freedom from.

How this score is computed

About OpenArm

OpenArm is a fully open-source humanoid robot arm platform from Enactic for contact-rich physical AI research. The official hardware repo is the manufacturing source; the OpenArm docs hold the v1-era actuator and off-the-shelf BOM tables (the v2 BOM is on Google Drive), and the separate openarm_description repo publishes the v2 URDF with DAE meshes. OpenArm 2.0 uses DAMIAO 43-series and DAMIAO 8009P motors; the docs tables list J1/J2, J3, J4 and J5 to J8 actuator groups for two arms, MiSUMi off-the-shelf arm hardware and a hub electrical BOM CSV. The 3D view is the v2 URDF with the body, arms and pinch grippers.

Licenses

Hardware: CERN-OHL-S-2.0
Software: Apache-2.0
Docs: Not published

Degrees of freedom

8 DoF arm 7gripper 1

Breakdown source

Serial armPairs into bimanualsource

How to build OpenArm

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions.

Fabricate the parts
Download the STEP files and BOM from the OpenArm Google Drive. Order the CNC-machined aluminium and sheet-metal arm parts listed in the BOM, and 3D-print the casings.
Motari summarydocs.openarm.dev/1.0/hardware/assembly-guide/j1-j2-sub-assembly
Source the motors
Acquire the DAMIAO DM-J4310-2EC, DM4340 and DM-J8009P motors specified in the OpenArm docs and BOM.
Motari summarydocs.openarm.dev/1.0/hardware/assembly-guide/j1-j2-sub-assembly
Assemble the joints
Assemble the 7-DoF arm from the CAD and BOM. The step-by-step assembly guide (sub-assemblies, gripper, pedestal, final assembly) is published in the OpenArm 1.0 docs.
Motari summarydocs.openarm.dev/1.0/hardware/assembly-guide/j1-j2-sub-assembly
Wire the CAN-FD bus
Manufacture cables from the provided wiring diagrams and connect the motors to the PCB hub.
Motari summarydocs.openarm.dev/1.0/hardware/assembly-guide/j1-j2-sub-assembly
Run OpenArm / LeRobot
Set motor IDs with the Damiao USB CAN debugger, configure the SocketCAN interface, then use the OpenArm software or the LeRobot integration for teleoperation and bimanual data collection.
Motari summarydocs.openarm.dev/1.0/hardware/assembly-guide/j1-j2-sub-assembly

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.

OpenArm bill of materials

7 rows

Cost to build

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

OpenArm parts, as the source lists them. Prices are the source's, not checked against vendors.

OpenArm bill of materials
Part	Qty	Spec	Source	Confidence
DAMIAO DM-J8009P-2EC motorsPer arm; the v1-era docs table lists quantities and total cost for two arms	2	24-48 V capable 8009P actuator, CAN control, 40 Nm peak torque class per motor docs	DAMIAO / Enactic docs205790 JPY total for two armsOpenArm ActuatorsTable.tsx lines 26-32 and motor.mdx lines 14-25; table last edited Aug 2025 (v1 era), not rendered in the current v2 docs	high
DAMIAO DM-J4340P-2EC motorsPer arm; the v1-era docs table lists quantities and total cost for two arms	1	DM4340 series motor used for higher payload compact joints	DAMIAO / Enactic docs42066 JPY total for two armsOpenArm ActuatorsTable.tsx lines 33-38 and motor.mdx lines 14-25; table last edited Aug 2025 (v1 era), not rendered in the current v2 docs	high
DAMIAO DM-J4340-2EC motorsPer arm; the v1-era docs table lists quantities and total cost for two arms	1	DM4340 series motor used for higher payload compact joints	DAMIAO / Enactic docs37387 JPY total for two armsOpenArm ActuatorsTable.tsx lines 39-44 and motor.mdx lines 14-25; table last edited Aug 2025 (v1 era), not rendered in the current v2 docs	high
DAMIAO DM-J4310-2EC V1.1 motorsPer arm; the v1-era docs table lists quantities and total cost for two arms; J8 is the gripper	4	24 V CAN actuator, 3 Nm rated / 7 Nm peak torque class per motor docs	DAMIAO / Enactic docs112113 JPY total for two armsOpenArm ActuatorsTable.tsx lines 45-50 and motor.mdx lines 23-43; table last edited Aug 2025 (v1 era), not rendered in the current v2 docs	high
Arm off-the-shelf hardware setbolts, posts, step bolts, bearings and washers	1	MiSUMi fastener/bearing hardware list with quantities and unit prices	MiSUMi / Enactic docssource JPY unit prices; total computed in docs componentOpenArm ArmOffTheShelfTable.tsx lines 25-40	high
Hub electrical BOMCAN/power hub electronics	1	XT30(2+2)PB-M.G.B connector row in hub BOM CSV; CSV is the published electrical BOM source	LCSC / make yourselfsource BOM CSV, not fully pricedOpenArm bom-for-hub.csv lines 1-2	med
OpenArm v2 structural visual/CAD source setURDF and DAE mesh representation for body, arm and pinch gripper	1	OpenArm v2 URDF example and DAE visual meshes	Enactic / make yourselfsource files published, manufacturing cost not priced hereopenarm_description example/v2.urdf and manifest source paths	high

Rows from the source's own parts list 5

website/docs/hardware/openarm-2.0/motor.mdx@6e07f34mdx

Source row	Qty	Price and vendor	Line
OpenArm 2.0 motor family specification	motor families for joints	damiao.enactic.aino price listed	L14

website/src/components/ActuatorsTable.tsx@6e07f34tsx

Source row	Qty	Price and vendor	Line
OpenArm actuator BOM table	4 + 2 + 2 + 8 actuators	DAMIAO / Enactic docs397356 JPY actuator table total	L26

website/src/components/ArmOffTheShelfTable.tsx@6e07f34tsx

Source row	Qty	Price and vendor	Line
OpenArm off-the-shelf arm hardware table	15 hardware rows	MiSUMi / Enactic docssource table has unit prices; total computed by docs	L25

website/static/file/hardware/bill-of-materials/electrical/bom-for-hub.csv@6e07f34csv

Source row	Qty	Price and vendor	Line
OpenArm hub electrical BOM CSV	6 connectors in first data row; full CSV source artifact	LCSC / Enactic docsno price listed	L1

1 more source files with parts rows are listed under Files.

OpenArm source files

18 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.

OpenArm in simulation

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

URDFassets/robot/openarm_v2.0/urdf/example/v2.urdfenactic/openarm_description

The 3D specimen on this page is converted from assets/robot/openarm_v2.0/urdf/example/v2.urdf at 846a82d.

Builds of OpenArm

0 reviewed

No reviewed builds of OpenArm 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

Hardwaregithub.com/enactic/openarm_hardwareeefc9fa
Simulationgithub.com/enactic/openarm_description846a82d
Documentationdocs.openarm.dev/hardware
Build guidedocs.openarm.dev/1.0/hardware/assembly-guide/j1-j2-sub-assembly

Last push to enactic/openarm_hardware: 2026-09-09 (checked 2026-10-01)

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: 2026-06-07 OpenArm docs + openarm_description URDF.

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

Markdown

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HTML

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A score of 90 or more needs a reviewed build. How the score is computed

About OpenArm

Licenses

Degrees of freedom

How to build OpenArm

Fabricate the parts

Source the motors

Assemble the joints

Wire the CAN-FD bus

Run OpenArm / LeRobot

OpenArm bill of materials

Cost to build

Rows from the source's own parts list 5

OpenArm source files

OpenArm in simulation

Builds of OpenArm

Sources and provenance

Sources

Related links

How this page was made

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Badge for the README