humanoidrobots.systems

sourcerobotics/parol6 · spec sheet

Source PAROL6 specs

3D-printed 6-axis desktop robot arm with industrial-style mechanics, with open-source STL files, BOM, control software and GUI.

Maker
Source Robotics
Class
Arm
Status
Active
Availability
Kit
Country
Croatia, Zagreb
Level
L1 Compiled
01

Media

4 items · credited and licensed
PAROL6 studio render, three-quarter front viewrender
Studio render of the published URDF, the model's zero pose. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from Source-Robotics/PAROL6-Desktop-robot-arm (GPL-3.0)license: Hyperspawn rendergithub.com
PAROL6 studio render, side viewrender
Side view of the same URDF render, the model's zero pose.Rendered by Hyperspawn from Source-Robotics/PAROL6-Desktop-robot-arm (GPL-3.0)license: Hyperspawn rendergithub.com
PAROL6 desktop robot arm, render
From the PAROL6 README.Source Robotics (PAROL6-Desktop-robot-arm)license: GPL-3.0github.com
4 s turntable of the URDF studio render.Rendered by Hyperspawn from Source-Robotics/PAROL6-Desktop-robot-arm (GPL-3.0)license: Hyperspawn rendergithub.com
02

Specifications

2/12 fields sourced
Source PAROL6 specifications
Heightspecs.heightCmunsourced
Massspecs.massKg5.5kg
Degrees of freedomspecs.dof6
Payloadspecs.payloadKgunsourced
Top speedspecs.speedMpsunsourced
Runtimespecs.runtimeMinunsourced
Battery capacityspecs.batteryWhunsourced
Pricespecs.priceUsdunsourcedSold as full kit (no printed parts/PSU), partial kit, or assembled; reach 400 mm
Actuatorsspecs.actuatorsunsourced
Computespecs.computeunsourced
Sensorsspecs.sensorsunsourced
Year introducedyearunsourced
Licenselicense.hw / .sw / .docsHardware: GPL-3.0Software: GPL-3.0

Note · Repo moved from PCrnjak (Petar Crnjak) to the Source-Robotics org. Maker reports >250 units in use worldwide. URDF (ROS package with Gazebo launch) is in PAROL6_URDF/. STL files, BOM, firmware and PAROL Commander are GPL-3.0; per the assembly manual the STEP files and the PAROL6 control board are not open source, and the board is only sold by Source Robotics. No trained policies or datasets found on Hugging Face (2026-09-25).

03

Openness

method
90 / 100Open hardware
ArtifactPublicWeightPoints
CADopenness.cadyes2525
Bill of materialsopenness.bomyes2020
Sim model (URDF/MJCF)openness.simyes2020
Firmwareopenness.firmwareyes1515
Softwareopenness.softwareyes1010
Trained policiesopenness.policiesno100
score = Σ weight × public90
04

Build package

v0.1.0 · full guide
BOM lines
63
Parts (qty)
376
Priced BOM
—
Fab parts
41
Print time
95 h
Material
1.2 kg
Build steps
25
Est. assembly
—
Safety steps
7
Vendors
4

BOM by category · USD from priced lines

CategoryLinesQtyUSD
Fasteners18263—
Structure1260—
Other1120—
Electronics611—
Cabling66—
Actuators59—
Sensors46—
Power11—

Offers in CN · EU · GLOBAL from 4 vendors

Subsystems · assembly groups

GroupStepsMinSafety
Fabrication3——
Arm assembly9——
Electronics5—4
Firmware2——
First motion3—3
Calibration1——
Gripper2——

Fabrication: FDM print ×41

Firmware

Targets
STM32F446RE (PAROL6 control board, PlatformIO env genericSTM32F446RE, ST-Link upload), 6x TMC5160 over SPI (configured by the main firmware)
Repo
github.com/Source-Robotics/PAROL6-Desktop-robot-arm/tree/main/PAROL6%20control%20board%20main%20software
Calibrate
Homing on every power-up: Commander Home button (J1-J3 to limit switches/sensor, then J4, J6, J5). Mastering: align the witness marks and edit `homed_position` per joint in motor_init.cpp, then re-upload. Direction: `Joint__->direction_reversed` in motor_init.cpp. Currents: `MOTORx_MAX_CURRENT` in constants.h (defaults 2000/2000/1900/1700/1700/965 mA for J1-J6) and `hold_multiplier`.
Notes
Two PlatformIO projects in the robot repo: 'PAROL6 control board test code' (component tests, serial commands `# LIMIT` and `# IO`; spins all motors, not for an assembled arm) and 'PAROL6 control board main software' (talks to Commander over USB CDC). Boards ship with the test code. 32x microstepping on all joints; reductions J1 6.4:1 belt, J2 20:1 planetary, J3 20:1 x 38:42 belt (18.095:1), J4 4:1 belt, J5 4:1 belt, J6 10:1 planetary. Host software: PAROL-commander-software (GPL-3.0), plus the community PAROL-Web-Commander and the PAROL6 Python API.

Caveats · stated by the package

  • Upstream pins: Source-Robotics/PAROL6-Desktop-robot-arm@3892e9c85c1f6d8041cda01c47c9db9d18b30ad8 (2026-09-07; BOM/BOM.md, STL/, Print table/PR_EXCEL.xlsx, assembly manual v1.2 rev1 dated 27.10.2023, control board main + test firmware); Source-Robotics/PAROL-docs@6a30a7fadc73e6e270e8e86f3afb96d55346af69 (2026-03-13, published at source-robotics.github.io/PAROL-docs as of 2026-09-25); PAROL-commander-software@65c844fd5e0e5ec20c30352092ac4fb29b997bd5 (2025-09-23)
  • No USD prices anywhere upstream. BOM.md gives links only (many are AliExpress affiliate short links), and the control board and programming adapter are priced in EUR on source-robotics.com.
  • The PAROL6 control board is only sold by Source Robotics. The manual states the STEP files and the control board are not open source; STL files, BOM, firmware and Commander are GPL-3.0.
  • The BOM supply (Mean Well EDR-120-24) is an open-terminal mains DIN-rail unit. It needs an enclosure, earth and qualified wiring. The kit is sold without printed parts or a PSU.
  • The print table (PR_EXCEL.xlsx) predates some STL renames: several files (J1_turret_rework_blocker, J1_belt_cover_rework, main_base_blocker, lid_electronics) are matched to older row names, some parts have two conflicting rows, and E-stop, gripper jaws and J1_wires_cover have no row at all.
  • The assembly manual is v1.2 rev1 (27.10.2023) and some images are outdated (the J5 stepper orientation is shown 180° wrong; J1 turret stopper rails were added later).
  • TMC5160 modules from other sellers must match the docs pinout and have the DIAG pins removed. A reversed or wrong driver, or an ST-Link connected without the adapter, destroys the board.
  • No brakes: the arm falls when power is cut. For long runs the docs require lowering motor currents in constants.h to keep PETG parts cool (J4-J6 reach 72-73 °C when moving).
  • The manual calls for an M3x20 screw as the J1 rotation limiter and 'M3 ?' in one optional shoulder step, but BOM.md has no M3x20 line. Buy a few extra M3 lengths.
  • Open-loop steppers with homing switches. Position is lost on a stall until the next homing.
  • No trained policies or datasets were found on Hugging Face for PAROL6 (search 2026-09-25).

Package sourcerobotics/parol6@0.1.0 · upstream Source-Robotics/PAROL6-Desktop-robot-arm@3892e9c85c1f6d8041cda01c47c9db9d18b30ad8 (2026-09-07; BOM/BOM.md, STL/, Print table/PR_EXCEL.xlsx, assembly manual v1.2 rev1 dated 27.10.2023, control board main + test firmware); Source-Robotics/PAROL-docs@6a30a7fadc73e6e270e8e86f3afb96d55346af69 (2026-03-13, published at source-robotics.github.io/PAROL-docs as of … (full pins in caveats) · 18 package sources

05

Models, repositories, links

6 links
06

Videos

2 tagged · 0 from the maker's channel
PAROL6 - 3D printed desktop robot arm - PresentationSource RoboticsOfficial embedyoutube.comSource RoboticsSource PAROL6
PAROL6 v1 - 3D printed 6 axis robot arm - 1 year overviewSource RoboticsOfficial embedyoutube.comSource RoboticsSource PAROL6
07

News and papers

0 stories · 0 papers

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08

Sources

last checked 2026-09-25
  1. [1]PAROL docssource-robotics.github.io/PAROL-docs/checked 2026-09-25
  2. [2]PAROL6 assembly manual v1.2 (STEP files and control board not open source)github.com/Source-Robotics/PAROL6-Desktop-robot-arm/blob/main/Building%20instructions/Parol%20building%20instructions.pdfchecked 2026-09-25
  3. [3]PAROL Commander software (GPL-3.0)github.com/Source-Robotics/PAROL-commander-softwarechecked 2026-09-25
  4. [4]Source Robotics contact info (Zagreb address)source-robotics.com/policies/contact-informationchecked 2026-09-24
  5. [5]GitHub repo (GPL-3.0)github.com/Source-Robotics/PAROL6-Desktop-robot-armchecked 2026-09-24
  6. [6]Source Robotics sitesource-robotics.com/checked 2026-09-24
  7. [7]Hackaday.io projecthackaday.io/project/191860-parol6-desktop-robotic-armchecked 2026-09-24
09

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Cite this page

humanoidrobots.systems. “Source PAROL6 specs.” Hyperspawn, data revision 2026-10-08. https://humanoidrobots.systems/sourcerobotics/parol6

Machine-readable: /data.json (record sourcerobotics/parol6).