ARCHIE: Articulated Robot for Collaborative Highly Integrated Education

Articulated robots, known for their versatility and precision, play a fundamental role in educational and research environments. This paper presents the design, implementation, and evaluation of a 6-degree-of-freedom robotic arm, using Dynamixel motors, aimed at providing a cost-effective and robust solution. The design of the robotic arm incorporates precise control through the Robot Operating System (ROS) and motion planning with MoveIt, ensuring accurate task execution. As part of the development process, a detailed 3D model and a Gazebobased simulation were created, allowing thorough testing and refinement in a virtual environment before physical deployment. The complete documentation, including a parts list and open-source code, is available in a GitHub repository. The results of this project demonstrate significant potential to improve educational experiences in mechatronics and to advance research capabilities, establishing this robotic arm as a valuable tool for academic and experimental purposes.