A device comprising a tower covered by a shell, the tower having a base with a first axis of movement around a first joint, a first arm connected to the tower via a second joint along a second axis of movement, a second arm connected to the first arm at a proximal end of the second arm via a third joint defining a third axis of movement, the second arm having an end effector interface configured to hold a variety of end effectors usable for different applications, the end effectors being exchangeable allowing the device to perform digital fabrication and desktop manufacturing, an autolevelling function configured to sense a height of a work surface, and a training function allowing a user to teach either arm to perform or repeat specific actions and/or collaborate with the other arm to achieve a common assembly or fabrication task.