Auto-assembled, not yet reviewed

ROBOTIS OpenManipulator-X

4-DoF + gripper DYNAMIXEL arm with full ROS 2 stack.

Reproducibility65/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
ROBOTIS OpenManipulator-X open-source 5-DoF robot arm, 3D render from open_manipulator_x.urdf
main assembly 3D · open_manipulator_x.urdf

About ROBOTIS OpenManipulator-X

ROBOTIS OpenManipulator-X (RM-X52-TNM) is a 5-DoF platform described by ROBOTIS as 4 arm DOF plus a 1-DoF gripper. The official ROS 2 repository ships the OpenMANIPULATOR-X URDF, STL meshes, controller configuration, MoveIt, Gazebo and teleop packages, and links to the ROBOTIS e-Manual. The e-Manual lists the chassis, actuator, cable, tool, fastener, idler and rubber-pad parts plus optional power and controller accessories; ROBOTIS US listed the RM-X52-TNM kit at $1,629.09 when checked on 2026-06-07.

Licenses

Hardware
CC-BY-4.0
Software
Apache-2.0
Docs
Not published

Degrees of freedom

5 DoF arm 4gripper 1

Breakdown source

Serial armsource

How to build ROBOTIS OpenManipulator-X

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 or order the links

    3D-print the structural links from the provided STL files, or buy the ROBOTIS hardware kit.

    Motari summaryemanual.robotis.com/docs/en/platform/openmanipulator_x/assembly

  2. Configure the actuators

    Before launching, with DYNAMIXEL torque off, move each joint to the pose pictured in the e-Manual; the controller may not start if joints are set inappropriately.

    Upstream stepdocs.robotis.com/docs/systems/openmanipulator_x/quick_start_...

  3. Assemble the arm

    Bolt the links to the actuator horns following the ROBOTIS e-Manual assembly guide.

    Motari summaryemanual.robotis.com/docs/en/platform/openmanipulator_x/assembly

  4. Wire power and comms

    Connect the actuators to the power hub and U2D2; supply 12V via the SMPS.

    Motari summaryemanual.robotis.com/docs/en/platform/openmanipulator_x/assembly

  5. Bring up ROS 2

    Launch the open_manipulator_bringup, MoveIt config and teleop packages to control the arm.

    Motari summaryemanual.robotis.com/docs/en/platform/openmanipulator_x/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.

ROBOTIS OpenManipulator-X bill of materials

10 rows

Cost to build

$1,629.09USDvendor kit
  • RM-X52-TNM kit (5 XM430-W350-T, frames, cables, tools); excludes SMPS, U2D2/OpenCR, base plate$1,629.09vendor kit

In the source currency, as read on 2026-09-30. Not converted, and not checked against current vendor prices: none of these is a Motari-verified checkout total.

ROBOTIS OpenManipulator-X parts, as the source lists them. Prices are the source's, not checked against vendors.

ROBOTIS OpenManipulator-X bill of materials
PartQtySpecSourceConfidence
XM430-W350-T actuatornecessary actuator row
5DYNAMIXEL XM430-W350-T; e-Manual hardware spec names this actuator and 12V input
ROBOTISincluded in RM-X52-TNM kit / not itemized in e-ManualROBOTIS e-Manual assembly lines 39 and specification lines 24-26
high
Chassis link and gripper partsnecessary chassis rows
1LINK FRAME long/short, rail brackets, palm grippers, link rods, flange bushes, crank arm, rail blocks, FR12 frame sets
ROBOTISincluded in RM-X52-TNM kit / not itemized in e-ManualROBOTIS e-Manual assembly lines 26-38
high
DYNAMIXEL cablesnecessary cable rows
5CABLE-X3P-100 x1, CABLE-X3P-180 x2, CABLE-X3P-240 x2
ROBOTISincluded in RM-X52-TNM kit / not itemized in e-ManualROBOTIS e-Manual assembly lines 40-42
high
Assembly toolsnecessary tool rows
4screwdriver plus 1.5, 2.0 and 2.5 mm wrenches
ROBOTISincluded in RM-X52-TNM kit / not itemized in e-ManualROBOTIS e-Manual assembly lines 43-46
high
Fasteners, idlers, bearings and padsnecessary miscellaneous rows
1X-SP, M2.5/M3 nuts, FHS/WB fasteners, DC12 idlers/caps/bearings, rubber pads
ROBOTISincluded in RM-X52-TNM kit / not itemized in e-ManualROBOTIS e-Manual assembly lines 47-63
high
SMPS 12V5Aoptional power accessory
112V 5A supply listed separately from necessary parts
ROBOTISoptional; not included in necessary tableROBOTIS e-Manual optional parts line 69
high
OpenCR controlleroptional board accessory
1OpenCR board listed as optional; overview describes PC/OpenCR control context
ROBOTISoptional; not included in necessary tableROBOTIS e-Manual optional parts line 70 and overview lines 39-43
high
U2D2 and U2D2 Power Hub Boardoptional DYNAMIXEL interface/power hub accessories
1U2D2 and U2D2 Power Hub Board listed separately in optional parts
ROBOTISoptional; not included in necessary tableROBOTIS e-Manual optional parts lines 71-72
high
Base Plate-02optional plate accessory
1Base Plate-02 optional; overview notes base plate is not included in package
ROBOTISoptional; not included in packageROBOTIS e-Manual optional parts line 73 and overview line 37
high
3D CAD / printable part filesmodifiable printable source files
1e-Manual links 3D CAD files; ROS repo ships URDF/STL visual meshes
ROBOTIS / 3D print yourselfsource files available; local print cost not pricedROBOTIS e-Manual assembly lines 80-84 and overview lines 34-35
high

Rows from the source's own parts list 7

docs/en/platform/openmanipulator_x/assembly.md@95e2dfamarkdown

Source rowQtyPrice and vendorLine
Necessary chassis parts and XM430-W350-T actuators
5 actuators plus chassis rows
ROBOTISno price listed
L22
Necessary cables and tools
5 cables; 4 tools
ROBOTISno price listed
L40
Necessary fasteners, idlers, bearings, pads
assorted
ROBOTISno price listed
L47
Optional power, controller and plate accessories
1 each
robotis-shop-en.comno price listed
L65
3D CAD and printable part files
1 set
ROBOTIS / self-printno price listed
L80

docs/en/platform/openmanipulator_x/specification.md@95e2dfamarkdown

Source rowQtyPrice and vendorLine
OpenMANIPULATOR-X hardware specification
5 DOF
ROBOTISno price listed
L22

docs/en/platform/openmanipulator_x/overview.md@95e2dfamarkdown

Source rowQtyPrice and vendorLine
Open source hardware and optional control context
1 platform
ROBOTISno price listed
L34

ROBOTIS OpenManipulator-X source files

20 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.

ROBOTIS OpenManipulator-X in simulation

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

The 3D specimen on this page is converted from open_manipulator_description/urdf/open_manipulator_x/open_manipulator_x.urdf at 2f7d3d0.

Builds of ROBOTIS OpenManipulator-X

0 reviewed

No reviewed builds of ROBOTIS OpenManipulator-X 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 ROBOTIS-GIT/open_manipulator: 2026-09-28 (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: 2026-06-07 ROBOTIS e-Manual + ROBOTIS US product page.

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 ROBOTIS OpenManipulator-X? 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 ROBOTIS OpenManipulator-X](https://motari.io/api/v1/badge/openmanipulator-x)](https://motari.io/r/openmanipulator-x)
HTML
<a href="https://motari.io/r/openmanipulator-x"><img src="https://motari.io/api/v1/badge/openmanipulator-x" alt="Motari reproducibility score for ROBOTIS OpenManipulator-X" 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