Tobor open-source, modular robotic arm features two ESP32 modules (Crowdfunding)

Tobor (robot spelled in reverse) is a modular and open-source robotic arm platform powered by the ESP32-WROVER-I and ESP32-WROOM-32 (FluidNC CNC Controller core) modules. It is described as a “fully-featured robotic system that can fit on your desktop and is capable of helping you automate your workflow.”

Tobor open-source robotic arm platform with pen plotter toolhead
Tobor fitted with pen plotter toolhead

Tobor is billed as a customizable assistant for complex tasks such as assembly line help, CNC design, and rapid prototyping. The Tobor ecosystem includes several open-source components, including robotic arms, motion platforms, sensors, and actuators, that can be combined to create a unique system for “almost any desktop automation.”

The Tobor Robot Arm supports multiple toolhead options such as the pen plotter toolhead, z-stage toolhead with 4th axis and suction cup, and the pick and place expansion pack. We have seen other open-source robotic platforms such as the SO-ARM100 AI robotic arm kit, CYOBot v2, and MIKRIK V2 Robot Car.

tobor robotics platform main board

Tobor Robot Arm specifications:

  • Microcontroller – ESP32-WROVER-I module
    • ESP32-D0WDQ6, dual-core Xtensa 32-bit CPU @ 240MHz
    • Internal Memory – 448KB ROM and 520KB SRAM
    • External Memory – 4MB SPIRAM
  • FluidNC CNC Controller Core
  • Storage – microSD card slot
  • Networking – Wi-Fi 4
  • Motion control
    • 3x DRV8825 stepper motor drivers
    • 2x AS5048B 14-bit absolute encoders
  • Peripherals – CAN Bus Edge Board interface, Stepper expansion port
  • Misc
    • LEDs – 8-position addressable LED ring
    • Buttons – 1 user-programmable tactile button, reset button
    • Edgeboard standards – Heartbeat LED, function button, status addressable LED
  • Power – 24V DC via screw terminal

Floe drag-and-drop programming environment

The ESP32-based open-source robotic arm platform supports Python and offers a library of scripts for creating complex automations. It can also be programmed using Floe, a drag-and-drop, web-based programming environment. It runs the open-source, ESP32-optimized CNC firmware, FluidNC.

Tobor offers a number of programming options, including collaborative mode, game controller mapping, and using G-code files from CAD software (Autodesk, Cura, or Inkscape). The web interface allows real-time preview and editing of code for faster development.

Tobor is completely open-source. Hardware schematics for the main board and FluidNC configuration files are currently available on GitHub with other assets coming soon.

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The Tobor robotics platform crowdfunding campaign is live on Crowd Supply, with a $500 funding goal and 43 days left. Rewards include the Tobor robotic arm starter kit for $458, the Z-stage tool arm for $388, and the PNP expansion kit for $368. Shipping is free, with orders expected to ship by July 27, 2025.

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