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 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 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
- ESP32-WROOM-32 module, Wi-Fi + BLE module
- Dedicated FTDI and reset switch
- 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
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.
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.
Tomisin is a writer specializing in hardware product reviews, comparisons, and explainers. He is very passionate about small form factor and single-board computers.
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