OpenMANIPULATOR-X (RM-X52-TNM) parts list
Five-servo DYNAMIXEL desktop arm with a parallel gripper and full ROS 2 support, often paired with TurtleBot3 for teaching.
Robot armsintermediate by ROBOTIS
Total parts cost: $1,710 to $2,160 (cheapest listed sellers add up to about $821)
Low end is the complete RM-X52-TNM kit ($1,629.09) plus a U2D2, Power Hub and 12V supply. High end buys the Frame Set ($314.76) and five XM430s separately, plus the Base Plate-02. The five servos are about 95% of the cost. Excludes a PC and shipping.
Exploded view
Tap any part to see where to buy it. Diagram is schematic, not to scale.
Every part you need
| Part | Qty | Spec | Where to buy |
|---|---|---|---|
| DYNAMIXEL XM430-W350-T joint and gripper actuators | 5 | 12V, 4.1 N.m stall at 12V, TTL bus, IDs 11 to 15; each servo ships with two 180 mm X3P cables Four arm joints plus the gripper; the whole arm is built around this servo. | ROBOTIS: $310.39 RobotShop: $310.39 Generation Robots: EUR 317.40 single; incl. VAT |
| LINK FRAME (LONG) chassis | 1 | Plastic link; printable from the official CAD; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Upper arm link. | no verified seller yet |
| LINK FRAME (SHORT) chassis | 1 | Plastic link; printable from the official CAD; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Forearm link. | no verified seller yet |
| RAIL BRACKET (LEFT) chassis | 1 | Gripper rail bracket; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Guides the left finger. | no verified seller yet |
| RAIL BRACKET (RIGHT) chassis | 1 | Gripper rail bracket; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Guides the right finger. | no verified seller yet |
| PALM GRIPPER chassis | 2 | Gripper finger; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page The two fingers. | no verified seller yet |
| LINK ROD chassis | 2 | Gripper linkage rod; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Turns servo rotation into finger travel. | no verified seller yet |
| FLANGE BUSH chassis | 4 | Plastic bushing; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Pivots for the gripper linkage. | no verified seller yet |
| CRANK ARM chassis | 1 | Gripper crank; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Connects the gripper servo horn to the link rods. | no verified seller yet |
| RAIL BLOCK chassis | 2 | Linear rail block; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Lets each finger slide on its rail. | no verified seller yet |
| FR12-S101-K frame set bracket | 1 | ROBOTIS X-series frame Base mount for joint 1. | RobotShop: check price (unverified) |
| FR12-S102-K frame set bracket | 2 | ROBOTIS X-series side frame; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Joins servos at the shoulder and wrist. | no verified seller yet |
| FR12-H101-K frame set bracket | 2 | ROBOTIS X-series hinge frame, includes an HN12-I101 idler set Hinge joints between servos. | RobotShop: check price (unverified) |
| FR12-H104-K frame set bracket | 1 | ROBOTIS X-series hinge frame; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Hinge joint at the base. | no verified seller yet |
| CABLE-X3P-100 cable | 1 | 3-pin TTL DYNAMIXEL cable, 100 mm; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Shortest daisy-chain hop. | no verified seller yet |
| CABLE-X3P-180 cable | 2 | 3-pin TTL DYNAMIXEL cable, 180 mm; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Daisy-chain hops; spares come with each servo. | no verified seller yet |
| CABLE-X3P-240 cable | 2 | 3-pin TTL DYNAMIXEL cable, 240 mm; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Longest daisy-chain hops along the links. | no verified seller yet |
| Screwdriver tools | 1 | Included in the frame set Assembly. | no verified seller yet |
| Hex wrench 1.5 mm tools | 1 | Included in the frame set Assembly. | no verified seller yet |
| Hex wrench 2.0 mm tools | 1 | Included in the frame set Assembly. | no verified seller yet |
| Hex wrench 2.5 mm tools | 1 | Included in the frame set Assembly. | no verified seller yet |
| X-SP spacer hardware | 24 | ROBOTIS X-series spacer ring; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Spacing between frames and servos. | no verified seller yet |
| Nut M2.5 hardware | 16 | M2.5 hex nut; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Assembly. | no verified seller yet |
| Nut M3 hardware | 4 | M3 hex nut; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Assembly. | no verified seller yet |
| FHS-M2.5x14 flat head screw hardware | 12 | M2.5 x 14 mm flat head; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Assembly. | no verified seller yet |
| WB-M2x3 wrench bolt hardware | 38 | M2 x 3 mm socket head; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Assembly. | no verified seller yet |
| WB-M2x4 wrench bolt hardware | 4 | M2 x 4 mm socket head; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Assembly. | no verified seller yet |
| WB-M2.5x4 wrench bolt hardware | 4 | M2.5 x 4 mm socket head; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Assembly. | no verified seller yet |
| WB-M2.5x6 wrench bolt hardware | 8 | M2.5 x 6 mm socket head; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Assembly. | no verified seller yet |
| WB-M2.5x8 wrench bolt hardware | 16 | M2.5 x 8 mm socket head; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Assembly. | no verified seller yet |
| WB-M2.5x12 wrench bolt hardware | 4 | M2.5 x 12 mm socket head; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Assembly. | no verified seller yet |
| WB-M2.5x17 wrench bolt hardware | 4 | M2.5 x 17 mm socket head; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Assembly. | no verified seller yet |
| WB-M2.5x20 wrench bolt hardware | 4 | M2.5 x 20 mm socket head; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Assembly. | no verified seller yet |
| WB-M3x10 wrench bolt hardware | 4 | M3 x 10 mm socket head; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Assembly. | no verified seller yet |
| DC12-IDLER hardware | 3 | Idler for the hinge frames; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Second support point on hinge joints. | no verified seller yet |
| DC12-IDLER-CAP hardware | 3 | Idler cap; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Holds the idler in place. | no verified seller yet |
| DC12-P-BEARING hardware | 3 | Idler bearing; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Lets the idler side turn smoothly. | no verified seller yet |
| Rubber pad hardware | 2 | Finger pad; Comes in the ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52); no single-part store page Grip on the fingertips. | no verified seller yet |
| ROBOTIS SMPS 12V 5A PS-10 power (optional in BOM) | 1 | 12V 5A, 100 to 260V AC input; any 12V 5A supply with the right plug works Powers the five 12V servos. | ROBOTIS: $24.61 (unverified) RobotShop: check price (unverified) |
| ROBOTIS U2D2 interface (optional in BOM) | 1 | USB to DYNAMIXEL TTL/RS-485; the recommended way to connect a PC Lets ROS 2 on your PC talk to the servos. Pick this pair or the OpenCR. | ROBOTIS: $36.92 RobotShop: $46.76 (unverified) |
| ROBOTIS U2D2 Power Hub Board set interface (optional in BOM) | 1 | 3.5 to 24V in, 10A max; pairs with the U2D2 Injects 12V power into the servo bus next to the U2D2. | ROBOTIS: $21.85 (unverified) |
| ROBOTIS OpenCR 1.0 controller (optional in BOM) | 1 | STM32F7 board with IMU and DYNAMIXEL ports; alternative to U2D2 plus Power Hub Runs the arm standalone (Arduino) or as the PC interface; same board as TurtleBot3. | RobotShop: $247.14 ROBOTIS: check price (unverified) |
| ROBOTIS Base Plate-02 mounting (optional in BOM) | 1 | Aluminum plate for the RM-X52; clamp not included; X430 series only Gives the arm a stable base you can clamp to a desk. | ROBOTIS: $206.66 (unverified) RobotShop: $179.70 (unverified) Generation Robots: EUR 210.00 (unverified) single; incl. VAT |
Quantities follow the official OpenMANIPULATOR-X (RM-X52-TNM) docs: https://emanual.robotis.com/docs/en/platform/openmanipulator_x/assembly/. "Unverified" prices come from search listings or older BOMs that we could not confirm on the seller's product page.
Kits (fewer orders, check what they leave out)
| Kit | Price | Includes | Leaves out | Buy |
|---|---|---|---|---|
| ROBOTIS OpenMANIPULATOR-X RM-X52-TNM (complete arm kit) RobotShop | $1,629.09 | Five XM430-W350-T servos plus all frames, cables, fasteners and tools; ships unassembled per the e-Manual | Special order at RobotShop. Power supply, U2D2 or OpenCR, base plate | RobotShop: $1,629.09 |
| OpenMANIPULATOR-X RM-X52-TNM ROBOTIS | check price | Same kit from the maker (search listing showed $1,629.09; page did not load for us) | Power supply, U2D2 or OpenCR, base plate | ROBOTIS: check price |
| ROBOTIS OpenMANIPULATOR-X Frame Set (RM-X52) RobotShop | $314.76 | All plastic parts, FR12 frames, cables, bolts, rubber pads and tools | Servos, power supply, controller. Special order | RobotShop: $314.76 |
3D printed parts
Not needed. The kit and frame set include molded parts. ROBOTIS publishes the CAD (Onshape and Thingiverse) if you want to print replacements or the chassis parts yourself; FR12 frames still need buying. Files: https://www.thingiverse.com/thing:3069574
Mistakes builders make
- Buying the five servos plus the Frame Set costs more than the complete kit, so the kit is the cheaper path unless you already own XM430s.
- The Frame Set also fits XL430 servos, but the XL430 cannot run the gripper's current-based position mode and the joint 2 servo (ID 12) overheats under load. One user hit both.
- Servos must be set to IDs 11 to 15 and the baud rate the ROBOTIS package expects; a home-made arm needs this done in DYNAMIXEL Wizard first.
- The U2D2 carries only data. Servo power goes in through the Power Hub Board (or the OpenCR), from a 12V supply.
- On Linux, set the USB latency timer to 1 ms (the bringup package has a udev rule command); the 16 ms default makes control jerky.
- Base Plate-02 prices swing between about $150 and $210 across sellers; a 3D printed or wooden base with a clamp also works.
FAQ
How much does it cost to build the OpenMANIPULATOR-X (RM-X52-TNM)?
About $1,710 to $2,160 in parts at current prices, Low end is the complete RM-X52-TNM kit ($1,629.09) plus a U2D2, Power Hub and 12V supply. High end buys the Frame Set ($314.76) and five XM430s separately, plus the Base Plate-02. The five servos are about 95% of the cost. Excludes a PC and shipping..
Do I need a 3D printer for the OpenMANIPULATOR-X (RM-X52-TNM)?
No printed parts are needed for the standard build.
Is there a kit for the OpenMANIPULATOR-X (RM-X52-TNM)?
Yes: RobotShop, ROBOTIS, RobotShop. Check what each kit leaves out before ordering.
Similar builds
AR4 (MK5)
advanced · $1,200 to $2,300
Desktop six axis arm with machined aluminum links, geared closed loop steppers and a Teensy controller, built from kits or self-sourced parts.
BCN3D Moveo
advanced · $500 to $800
Fully 3D printed 5-axis teaching arm with belt-driven joints, NEMA steppers and an Arduino Mega running modified Marlin.
Koch v1.1
intermediate · $477 to $560
Dynamixel-based leader and follower arm pair, the first LeRobot reference arm; pricier than SO-101 but uses ROBOTIS servos.
Moss v1
beginner · $288 to $360
Metal-bracket STS3215 leader and follower arms for LeRobot; still supported but deprecated in favor of SO-100/SO-101.
PAROL6
advanced · $750 to $1,150
3D printed six axis desktop arm with industrial style belts, planetary gearboxes and open Python control software.
SO-100 (SO-ARM100)
beginner · $232 to $330
The original LeRobot leader and follower arm pair; now deprecated in favor of SO-101 but uses the same servos.
OpenMANIPULATOR-X (RM-X52-TNM) vs AR4 (MK5)
OpenMANIPULATOR-X (RM-X52-TNM) vs BCN3D Moveo
OpenMANIPULATOR-X (RM-X52-TNM) vs Koch v1.1
Last checked 2026-10-25. Sources: emanual.robotis.com · emanual.robotis.com · emanual.robotis.com · emanual.robotis.com · github.com · github.com · forum.mybotshop.de · robotis.us · www.robotshop.com · www.robotshop.com · www.robotshop.com · www.robotshop.com · www.generationrobots.com · www.robotis.us · www.robotis.us