This article presents Hecatonquiros, a complete open-source ecosystem for low cost and lightweight robotic manipulators. It has been released to focus on aerial manipulation applications but can be used in any other robotic application that requires the use of manipulators. The proposed framework provides the control system, a simulation environment, and a set of back ends to allow reusing the algorithms with different hardware setups. Additionally, it is released with a set of tools to ease its usage and various examples to teach the users. Several manipulators models and end-effectors are available for the users to adapt to their different requirements. All the hardware is designed to be three-dimensional printed and its components are low cost and available in common robotic stores, so anyone can reproduce and use them. The software is available in the GitHub repository https://github.com/Bardo91/hecatonquiros.

中文翻译：

---

Hecatonquiros：用于空中操纵应用程序的开源硬件

本文介绍了 Hecatonquiros，这是一个完整的开源生态系统，用于低成本和轻型机器人机械手。它已发布以专注于空中操纵应用程序，但可用于需要使用操纵器的任何其他机器人应用程序。所提出的框架提供了控制系统、模拟环境和一组后端，以允许在不同的硬件设置下重用算法。此外，它发布了一套工具来简化它的使用和各种例子来教用户。多种机械手模型和末端执行器可供用户使用，以适应他们的不同要求。所有硬件均采用 3D 打印设计，其组件成本低，可在普通机器人商店中买到，因此任何人都可以复制和使用它们。