Evolution of Niryo One prototypes in 5 steps

[Update] You can now order Niryo One ! [/Update]

Designing a robot such as a 6 axis robotic arm is a real challenge. As we’ve already explained in a previous post, a robotic arm is made of three main categories : electronics, computer science and mechanics. Today we will cover the mechanical design of Niryo One, our first product, so you can discover the different prototypes we’ve made so far !

Several steps are needed when designing a mechanical product.

The first step was to clarify the idea, and create the robot from scratch to see what we were able to do (V1 and V1.2). Then we tested different mechanical possibilities (V2-4), until we could say our product was coherent and functional.

From this point we improved the precision and rigidity of the robot. That allowed us to pass integration tests (V4.2). V5 prototype has ergonomics and design improvements and is the prototype we are currently working on.

We perform robot modeling on CAD (Computer Aided Design) software and then we print the parts directly with the 3D printer. This saves a huge amount of time and allows us to make continuous improvements.

Prototype 1 was made to test robotics fundamental principles. We validated rotation movements along 3 axis.

niryo prototype version 1.1
niryo prototype version 1.2

Prototype 1.2 has the previous mechanical architecture, but the front arm evolves with an additional rotation axis. This robot has 4 degrees of freedom.

The evolution of prototype 2 is in the main arm gear, with planetary gear implementation. This centers the motor with its rotation axis, and allows to get a 7:1 reduction as well as a robustness gain.

planetary gearniryo prototype version 2
niryo prototype version 3

Prototype 3 still has the planetary gears system, extended to the arm, forearm and wrist rotations.

Our 4th prototype is really different from prototype 3, indeed the “planetary gear” mechanical system was not reliable enough because printed in 3D. This prototype integrates pulleys and belts to actuate the elements in rotation. In addition, aluminium tubes lighten the arm, reduce the printing time of the robot, and improve its rigidity.

niryo prototype version 4
niryo robot prototype version 4.2

Prototype 4.2 is a continuation of the previous one, with improved design and stepper motors integration for each rotation axis.

The last version as we speak is prototype 5, which is very close to the final version. All of the 6 axis are functional. It brings a more ergonomic touch and a sleeker design than the previous version.

niryo robot prototype version 5

Our goal is to reach mechanical simplicity (which is not so simple !). The simpler the mechanics, the more reliable it is. Using 3D printing is great to accelerate development processes, although sometimes we have to think differently in order to define the most robusts plastic forms.

Niryo One is now available !



  1. Michael Kugler December 21, 2016 at 1:12 pm - Reply

    Hi is the prototype 5 open source? I would like to print one

    • Edouard Renard December 21, 2016 at 1:21 pm - Reply

      Hi Michael,

      We will release open source code and STL files after the first shipments of the product 🙂

  2. Dhaval December 21, 2016 at 6:59 pm - Reply

    Hi Niryo team,
    I am very eager for niryo one opensource project. Any expected dates for release?

    • Edouard Renard December 21, 2016 at 8:15 pm - Reply

      Hi Dhaval,

      We are going to launch Niryo One on Kickstarter around March 2017 and we expect to ship products for September 2017. At this time we will release STL files and the code will be on github so everyone can share and contribute !

  3. Alex March 15, 2017 at 5:59 pm - Reply

    any informations on costs?

    • Edouard Renard March 15, 2017 at 9:30 pm - Reply

      Hi Alex,
      You can get more information about the costs on the Kickstarter campaign we’ve just launched ! http://kck.st/2mtEF1f

  4. jero October 9, 2017 at 1:49 am - Reply

    Hi Niryo team, Any expected dates for release?

    • Edouard Renard October 13, 2017 at 3:09 pm - Reply

      Hi Jero,

      We will release Niryo One in early 2018. Until then you still have some time to pre-order one robot and get a discounted price ! https://niryo.com/products/

  5. Martin D August 17, 2018 at 7:36 am - Reply


    est il possible d’obtenir les pieces dans un autre format que du STL ? Par exemple le format SW, ou Creo ou Catia ? Merci!

    Enfin, je ne trouve pas la reference des moteurs pas à pas que vous utilisez. Ou puis-je les trouver ?

    Merci beaucoup! continuez comme ça !

    • Edouard Renard August 17, 2018 at 9:26 am - Reply

      Bonjour Martin,
      Nous publierons bientôt les fichiers .step en plus des STL, ce qui vous permettra de modifier les pièces.
      Les moteurs pas à pas que nous utilisons sont des NEMA 17 (vous pouvez trouver les références plus précises dans le lien vers l’excel Google Sheet, sur notre page github)
      Merci pour vos encouragements !

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