Strong, Accurate, and Low-Cost Robot Manipulator

--This paper presents Forte, a fully 3D-printable, 6-DoF robotic arm designed to achieve near industrial-grade performance - 0 . As an accessible robot for broad applications across classroom education to AI experiments, Forte pushes forward the performance limitations of existing low-cost educational arms. We introduce a cost-effective mechanical design that combines capstan-based cable drives, timing belts, simple tensioning mechanisms, and lightweight 3D-printed structures, along with topology optimization for structural stiffness. Through careful drivetrain engineering, we minimize backlash and maintain control fidelity without relying on high-power electronics or expensive manufacturing processes. Experimental validation demonstrates that Forte achieves high repeatability and load capacity, offering a compelling robotic platform for both classroom instruction and advanced robotics research. Can we build a 6-degree-of-freedom (DoF) robotic arm with a material cost under $400, while achieving a half-meter workspace, a payload capacity of more than 0.5 kg, and repeatability within 0. 5 mm? We introduce Forte, a fully 3D-printed robotic manipulator, developed to affirmatively answer this question. In light of surging interest in robotics and artificial intelligence, providing accessible, hands-on educational tools has never been more important, as practical experience and experimental validation are essential components of robotics education.