Hardware

A body, composed.

56 functional degrees of freedom driven by 59 motors, almost entirely 3D-printed, assembled in one weekend. One coherent platform — not a stack of parts.

56 functional DOF · 59 motors2 × 7-DOF arms2 × 17-DOF hands (ORCA design)3-module swerve base$8,056 – $14,721 BOM

Arms derived from OpenArm (Enactic, CERN-OHL-S-2.0) · hands from the open ORCA Hand (ORCA Dexterity and ETH Zurich, CC BY 4.0) · MABEL: Apache-2.0 software, CERN-OHL-S-2.0 hardware, licensing.

The wiki & community GitHub ↗

Explore in 3D

Turn it over.

Drag to orbit, scroll to zoom, open it full-screen — then move the joints. Every slider's range comes straight from MABEL's URDF; the model articulates live.

Drag me around!

MABEL RIG v1.0 MESHOPT DECODER ..... OK mabel_rig.glb ....... 1.87 MB JOINT MANIFEST ...... 59 LOADING ............. ▓▓▓▓░░░░ █

Drag · scroll · move joints

Joints

The parts, named

What's inside.

Seven subsystems, pulled apart along the axes you would assemble them on. Almost every part is off the shelf or 3D-printed — there is not a machined component in here — and each one is labelled with what it actually is, so you can read this drawing and the bill of materials side by side.

Exploded CAD view of MABEL, colour-coded by subsystem: actuators, structure, sensors, battery, housings, computer and electronics. Labelled with every part — ZED Mini, Dynamixel 2XL430-W250 neck, DAMIAO DMJ8009 shoulder and DMJ4310/4340 arm actuators, the standing-desk lift, Jetson Thor, RPLiDAR, Intel RealSense D405 and D435i, Feetech 3915M and 3930M finger servos, and the REV MAXSwerve drive modules. — The CAD, pulled apart along its assembly axes. Colour is the subsystem; every label is the part you would order. The bill of materials on the build page bills exactly these lines.

Subsystem deep-dive

Head to wheels.

Explore eight subsystems, their specifications and parts.

On the bench

Hardware validation

Recorded tests of repeatability, base odometry and palm tracking.