Waveshare 5+1 DOF High-Torque Serial Bus Servo Robotic Arm Kit

The RoArm-M3 is a 5 + 1 DOF high-torque serial bus servo robotic arm kit, based on ESP32. It features a 2-DOF wrist joint, supports flexible expansion and secondary development, wireless control, and is compatible with LeRobot for advanced AI applications.

Product Introduction

The RoArm-M3 series is a 5 + 1 DOF smart robotic arm designed for innovative applications. It features a lightweight structure with an effective payload of 0.2kg@0.5m, allowing flexible mounting on various mobile platforms. A 360° omnidirectional base combined with five flexible joints creates a workspace with a 1-meter diameter.

Its joint direct-drive design enhances repositioning precision and structural reliability, with innovative dual-drive technology doubling the shoulder joint torque. The onboard ESP32 MCU main control module supports multiple wireless control modes, providing extensive control interfaces and communication protocols for easy device connectivity.

A user-friendly, cross-platform WEB application offers a simple, visualized coordinate control mode for easy onboarding. Comprehensive graphic and video tutorials are provided for quick learning. Compatible with ROS2 and various host computers, it supports multiple wireless and wired communication modes. Expansion plates allow for customizing the EoAT (End of Arm Tooling) to meet diverse application requirements.

The RoArm-M3 series also supports the popular AI robotic arm project LeRobot, integrating its pretrained models, datasets with demonstrations, and simulation environments. This provides strong support for research in Deep Learning, Imitation Learning, and Reinforcement Learning. Developers can quickly deploy intelligent algorithms onto the RoArm-M3 using LeRobot's demos and algorithm libraries, expanding possibilities for innovative applications.

The RoArm-M3 series achieves an excellent balance between lightweight design, user-friendliness, expandability, and open innovation. It is a multi-functional robotic arm ideal for applications requiring flexibility, expandability, and ease of use, integrating intelligent control, human-machine interaction, and customizable development.

Version Options

Choose between the RoArm-M3-S and RoArm-M3-Pro. The RoArm-M3-Pro features 5 all-metal ST3235 bus servos, offering enhanced durability and stable backlash that does not increase with use.

Parameter Comparison

* Not including the weight of the table edge fixing clamp (290±10g).

Compatible with the popular AI robotic arm project - LeRobot

The RoArm-M3 robotic arm series seamlessly integrates with the open-source LeRobot framework on Hugging Face. This provides core resources including pretrained models, datasets from human demonstrations, and simulation environments. When paired with an N-VIDIA Jetson Orin NX motherboard or a PC with an N-VIDIA discrete GPU, users can experience the complete process of Imitation Learning and Reinforcement Learning projects.

Flexible Joints & Omnidirectional Space

Featuring a 360° rotation base and flexible joints, the RoArm-M3 creates an omnidirectional operating space with a 1-meter diameter, enabling free movement in all directions.

2 DOF Wrist Joint + EoAT for More Flexible Clamping

Equipped with a 2-DOF wrist joint offering pitch and horizontal rotation support, this robotic arm ensures seamless coordination with the End of Arm Tooling (EoAT) for multi-dimensional clamping and operation.

Easy to Control via Cross-platform Web Application

No app installation is required. Access and control the RoArm-M3 via a simple web application on mobile phones, tablets, or computers. This open-source Web App also supports secondary development for custom user interfaces and new functions.

Completely Open Source for Secondary Development

The control codes and communication interface documents for the RoArm-M3 series are fully open source, supporting secondary development across multiple languages and devices. Modularized demos and tutorials are provided to help beginners get started easily.

Joint Direct-Drive Design: Feedback Precision up to 0.088°

Achieve highly accurate joint angle feedback directly via a 12-bit high-precision magnetic encoder, without reduction groups. This allows for precise calculation of the actual position of the current target point based on feedback.

Innovative Dual-Drive Technology Doubles Shoulder Joint Torque

A specially developed dual-drive control algorithm enables two servos at the shoulder joint to coordinate their output torque effectively, significantly enhancing the power and overall load capacity of the RoArm-M3 Series.

Direct-Drive Clamp Enables Precise Force Control

The direct-drive clamp design allows precise programmatic control of clamping force, making it ideal for handling delicate objects without excessive pressure.

Dynamic External Force Adaptive Control

Enable this function to limit the maximum torque for each joint. If external force exceeds the configurable torque threshold, the robotic arm will rotate in response, returning to its specified position when the force decreases.

One-Click Automatic Recording: Easy to Create Actions

The RoArm-M3 can save JSON instructions for robot control as task files directly to the ESP32's Flash memory, ensuring data retention even without power. These task files allow the robotic arm to perform complex and repetitive operations.

Accurately Reach the Target by Entering Coordinates

Utilize the open-source inverse kinematics control algorithm in the three-dimensional Cartesian coordinate system. By inputting the target position, the robot arm accurately reaches the point by calculating each joint's rotation angle.

Curve Velocity Control for Smoother Movement

The curve velocity control algorithm ensures smoother and more natural robotic arm movement, eliminating oscillations during start and stop phases.

ESP-NOW Wireless Control: Low-Delay Remote Collaboration

ESP-NOW is a low-delay ad hoc wireless communication protocol that operates without network infrastructure. Control multiple robotic arms wirelessly with broadcast, group, or one-to-one control methods.

* Note: Broadcast control has no device limitations, while group control supports up to 20 devices. Refer to the WIKI for details.

Supports Leading-Following Control Mode Based on ESP-NOW

In Leading-following control mode, the Leader robotic arm transmits its joint angle information via ESP-NOW. Follower robotic arms then precisely imitate these actions in real time.

Multiple Control Interfaces, Multi-Device and Language Support

Beyond the WEB application, the RoArm-M3 series can be controlled via HTTP protocol network requests, serial communication, or USB communication, sending JSON commands and receiving feedback from various controllers.

Multiple Installation Methods for Integrating into Your Application

Various installation schemes and secondary development resources are provided, allowing flexible integration into diverse projects and applications.

Easy to Install Different Peripherals

The upper arm's main structure features two 1020 European standard aluminum rails, enabling easy installation of additional peripherals with boat nuts and M4 screws to meet specific needs.

Supports Installing a Camera to Extend Visual Applications

Includes a camera holder and open-source drawings. Directly install a compatible camera or adapt others for advanced visual applications.

* for reference only, only the LED light is included.

Onboard ESP32 Main Control Board

Features a powerful ESP32 main control MCU supporting multiple wireless communication protocols, with abundant open-source resources to facilitate secondary development of innovative applications.

Compatible with ROS2: Provides Model Establishment File and Supports Multi-Device Cooperation

Offers ROS2 communication nodes, a URDF model description file, and a beginner-friendly ROS2 tutorial.

Rich Tutorial Resources for Secondary Development

Comprehensive unit tutorials and cases covering various functions and common application scenarios are provided to help users quickly master secondary development.

General Driver Board for Robots

The onboard driver board features rich interfaces and resources for innovative development and functional expansion.

Diversified Onboard Resources Supports Function Expansion

Integrated with INA219 battery voltage monitoring and a 9-axis IMU sensor, enabling extensive function expansion and innovation.

Mouse Drag-and-Drop Interaction

Utilize Web applications and desktop software (open-source Python programs) to set action instructions with mouse presses and releases, providing flexible control over the robotic arm.

Specifications

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Dimensions