Mechanical Design and Assembly of a Modular Educational Robot Using APIRO Components

This paper presents a modular Cartesian robot for educational use, built using APIRO mechanical components and controlled via a browser-based interface hosted on an ESP32 microcontroller. The system enables students to explore mechanical assembly and axis control through hands-on interaction without additional software or internet access. A structured task design supports learning of motion along the $X$, $Y$, and $Z$ axes. To improve control safety and repeatability, a hybrid open-loop method was implemented, combining homing routines with software-defined soft limits. While full automation is not yet integrated, the robot offers a scalable, low-cost platform for step-by-step learning in robotics. Testing confirmed stable, repeatable joint motion suitable for classroom and prototyping environments.