World's First: Snap-Apart Robotic Arm
Astolfi by Ali is the first robotic arm in history that can be fully disassembled and reassembled in seconds — no tools, no hassle. This makes it perfect for transport, maintenance, upgrades, and education.
Chain-Driven: A New Approach
Astolfi is the only robotic arm that uses a chain drive system for power transmission. While other robots use gears, belts, or direct drive, Astolfi uses chains — delivering high torque, durability, and easy replacement at low cost.
📖 About
Astolfi by ali is an open-source desktop robotic arm built with industrial-grade components. It uses IHSV57 closed-loop AC servo motors and Arduino Portenta H7/X8 controller.
The goal is simple: a robotic arm on every desk.
🔥 The Vision
We believe robotic arms should not be limited to factories and research labs. Astolfi is designed to be powerful enough for real work and accessible enough for every desktop. We are building a team to make this happen.
🤝 We Need a Team
This is not a solo project. We are looking for people who want to build something real together:
Mechanical Engineers — joint design, structural optimization, new versions
Embedded Engineers — Portenta firmware, motor control, real-time systems
AI / ML Engineers — LeRobot integration, imitation learning, autonomous tasks
Industrial Designers — making it look as good as it works
Testers and Builders — build it, break it, improve it
If you want to be part of this, open a Discussion on this repository or reach out directly.
⚙️ Technical Specifications
Component
Details
Type
Desktop Robotic Arm
Motors
JMC iHSV57 Integrated AC Servo (closed-loop, NEMA23)
Motor Torque
0.6 Nm continuous / up to 1.8 Nm peak
Motor Speed
Up to 3000 RPM
Encoder
1000-line incremental encoder (built-in)
Controller
Arduino Portenta H7 or Portenta X8
Input Voltage
DC 36V
Control Modes
Position loop, Speed loop, Current loop
Fabrication
3D Printed (STL files included)
🚀 Roadmap
Initial concept and design
STL files release
Form the core team
Assembly documentation
Firmware development
Testing and calibration
AI / LeRobot integration
A robotic arm on every desk
💬 How to Join — First 100 Contributors
The first 100 approved contributors will have their names permanently recorded in the official Astolfi Robot project data — forever part of this robot's history.
How to apply:
Send an email introducing yourself and how you want to contribute. Every application is reviewed and approved by the core team.
We accept two types of contributions:
Engineering Contributions — mechanical design, firmware, kinematics, testing, assembly, or any hands-on technical work
Funding Contributions — financial support to help bring Astolfi from prototype to production
