[How To Mechatronics] capitalized on this and built a SCARA robot arm using 3D-printed parts and common ... For controlling the motors, an Arduino Uno and CNC stepper shield was used.

ARCTOS is a 6-DOF robot arm ... for a 3D printed unit. On the electronics side of things, a bog standard CNC shield hosts A4988 or DRV8825 stepper driver modules and sits atop an Arduino Mega2560.