Waveshare 5+1 DOF High-Torque Robotic Arm Kit RoArm-M3-S/Pro is a next-generation robotic arm designed for research, education, and innovative applications. Built with serial bus servos, a direct-drive joint design, and powered by the ESP32 main control board, the RoArm-M3 series delivers high precision, strong torque, and versatile expandability. With wireless control, open-source resources, and compatibility with ROS2 and LeRobot, this robotic arm is ideal for developers, students, and professionals seeking a balance of performance, flexibility, and ease of use.
Features
- High-torque serial bus servos with direct-drive design for precision feedback (up to 0.088°).
- Dual-drive shoulder technology doubles torque, enhancing load capacity.
- 5+1 DOF structure with a 2-DOF wrist joint for multi-dimensional clamping and operation.
- ESP32 onboard MCU supporting WiFi, Bluetooth, and ESP-NOW wireless control for low-latency collaboration.
- Cross-platform Web Application – no installation required, intuitive coordinate control, fully open-source for customization.
- Open-source development with modular demos, tutorials, and multi-language support.
- Compatible with ROS2 & LeRobot, enabling AI-driven applications such as imitation learning and reinforcement learning.
- Lightweight yet durable design – carbon fiber and aluminum alloy ensure stability with payload up to 0.2kg@0.5m.
- Multiple installation methods and expansion plates for peripherals like cameras, sensors, and custom EoATs.
- Dynamic external force adaptive control and curve velocity algorithm for smoother, safer movements.
Specifications
| Specification | RoArm-M3-S | RoArm-M3-Pro |
|---|---|---|
| DOF | 5+1 | 5+1 |
| Workspace | Ø1120mm horizontal, 798mm vertical | Same |
| Operating Voltage | 12V 5A, supports 3S Li-ion battery | Same |
| Load Capacity | 0.2kg @ 0.5m | 0.2kg @ 0.5m |
| Servo Type | ST3215 bus servos | ST3235 all-metal bus servos |
| Torque | 30kg·cm @ 12V | Higher durability, stable backlash |
| Joint Feedback | Angle, speed, load, voltage, current, temperature | Same |
| Main Control | ESP32-WROOM-32 (WiFi, BT, dual-core 240MHz) | Same |
| Wireless Control | WiFi, ESP-NOW | Same |
| Wired Control | USB, UART | Same |
| Weight | 973.5g ±15g | 1020.8g ±15g |
| Clamp | Default clamp, customizable EoAT | Same |
| Compatibility | ROS2, LeRobot, Arduino IDE | Same |
Application Scenarios
- STEM Education & Robotics Training – Ideal for schools, labs, and workshops to teach robotic principles.
- AI & Machine Learning Research – Compatible with LeRobot, supports deep learning, imitation learning, and reinforcement learning projects.
- Industrial Prototyping – Lightweight and expandable design makes it suitable for automation experiments and mobile platforms.
- Human-Machine Interaction – Web-based control and adaptive force response enable safe collaboration.
- Vision-based Applications – Camera integration for object recognition, tracking, and AI-driven manipulation.
- Multi-device Collaboration – ESP-NOW wireless protocol allows multiple robotic arms to work in sync.
Version Options
Provides options for RoArm-M3-S / RoArm-M3-Pro. The RoArm-M3-Pro is equipped with 5x all-metal ST3235 bus servos, offering a more rugged body and stable backlash that won't increase with use, enhancing product durability.
Part List
RoArm-M3-S
RoArm-M3-Pro
General Driver Board for Robots
Onboard rich interfaces and resources for innovative development and functional expansion
- ESP32-WROOM-32 controller module
Can be developed using Arduino IDE - IPEX 1 WIFI connector
For connecting WIFI antenna to increase the wireless communication distance - LIDAR interface
Integrated LIDAR adapter function - I2C peripheral expansion interface
For connecting with OLED screen or other I2C sensors - Reset Button
Press and release to reboot the ESP32 - Download button
Press when powering on to enter download mode - DC-DC 5V voltage regulator circuit
Provides power supply for host computers such as Raspberry Pi or Jetson nano - Type-C port (LADAR)
LIDAR data transmission - Type-C port (USB)
ESP32 communication interface, for uploading programs to ESP32 - XH2.54 power port
Support DC 7~13V input, can directly power the serial bus servos and motors - INA219
voltage/current monitoring chip - Power ON/OFF
External power supply ON/OFF - ST series serial bus servo interface
For connecting with ST3215 / ST3235 serial bus servo - Motor interface PH2.0 6P
Group B interface for motor with encoder
- Motor interface PH2.0 6P
Group A interface for motor with encoder - Motor interface PH2.0 2P
Group A interface for motor without encoder - Motor interface PH2.0 2P
Group B interface for motor without encoder - AK09918C
3-axis electronic compass - QMI8658C
6-axis motion sensor - TB6612FNG
Motor Control Chip - Serial bus servo control circuit
for controlling multiple ST3215 serial bus servos and obtaining servos feedback - TF card slot
Can be used to store logs or WIFI configurations - 40PIN GPIO header
For connecting with Raspberry Pi or other host boards - 40PIN extended header
Easy to use the GPIO pins of Raspberry Pi or other host boards - CP-2102
UART to USB, for LIDAR data transmission - CP-2102
UART to USB, for ESP32 communication - Automatic download circuit
For Uploading programs to the ESP32 without pressing the EN and BOOT buttons
Dimensions
More Detail
Compatible with the popular AI robotic arm project - LeRobot
The Waveshare Robotic Arm RoArm-M3-S/Pro supports the open-source LeRobot framework on Hugging Face, providing pretrained models, datasets, and simulation environments. Combined with NVIDIA Jetson Orin NX or a PC with discrete GPU, users can explore Imitation Learning and Reinforcement Learning projects.
Flexible joints × omnidirectional space
Adopts a 360° rotation base and flexible joints to create an omnidirectional operating space with 1-meter diameter, allowing the Waveshare RoArm-M3-S Robotic Arm to move freely in all directions.
2 DOF Wrist Joint + EoAT for flexible clamping
Equipped with a 2 DOF wrist jointRoArm-M3-Pro Robotic Arm enables seamless coordination with the EoAT for multi-dimensional clamping and operation.
Easy to control via Cross-platform Web Application
No App installation required. Access directly via browser. Control the Waveshare Robotic Arm RoArm-M3-S/Pro on mobile, tablet, or PC. Supports secondary development of the open-source Web App for UI customization and new functions.