【RoArm-M3】

[] 5 + 1 DOF high torque bus servo robot arm

[] Supports flexible expansion and secondary development

* for reference only, please refer to the Package Content for the detailed part list

【Features At A Glance】

[] The RoArm-M3 series is a 5+1 DOF intelligent robotic arm designed for innovative applications. It adopts a lightweight structure, a payload of 0.2kg@0.5m, and can be flexibly installed on various mobile platforms. The 360° full range of motion of the base and five flexible joints create a 1m diameter workspace within reach.

[] The joint direct drive design improves the repeatability and structural reliability, and the innovative dual drive technology multiplies the shoulder joint torque. The main control module uses ESP32 MCU, supports a variety of wireless control methods, provides control interfaces and rich communication protocols, and can be easily connected to a variety of common devices.

[] The user-friendly cross-platform Web application and simple and intuitive coordinate control mode greatly reduce the difficulty of use. Rich graphic and video tutorials help you quickly learn and use, compatible with ROS2 and a variety of host computers, and support a variety of wireless and wired communication methods. Standard expandable component modules support custom multi-functional terminals to meet the needs of innovative applications.

[] At the same time, the RoArm-M3 series can also support the popular AI robot arm project LeRobot, integrating its pre-trained models, teaching data sets, and simulation environments to provide strong support for research and development directions such as deep learning, imitation learning, and reinforcement learning. By calling LeRobot's examples and algorithm libraries, developers can deploy intelligent algorithms to RoArm-M3 more quickly, further expanding the possibilities of innovative applications.

[] The RoArm-M3 series achieves an excellent balance in multiple dimensions such as lightweight, ease of use, scalability, and open innovation. It is a multifunctional robot arm that integrates intelligent control, human-computer interaction, and customizable development. If you need a solution that combines flexibility, scalability, and ease of use, the RoArm-M3 series will be a good choice.

【Version selection】

[] Compared with RoArm-M3-S, RoArm-M3-Pro uses all-metal ST3235 bus servos, which are more solid and the voids will not increase with time, thus improving the durability of the product.

【Parameter Comparison】

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

【AI Robotic Arm Project LeRobot】

[] The RoArm-M3 robotic arm series supports the open source LeRobot framework on Hugging Face, providing core resources such as pre-trained models, real-person teaching data sets, and simulation environments. Combined with the NVIDIA Jetson Orin NX motherboard or a personal computer with an NVIDIA discrete graphics card, you can experience the complete process of imitation learning and reinforcement learning projects.

【Flexible joint movements × Omnidirectional workspace】

[] The 360° rotating base and flexible joint movement create an omnidirectional operating space with a diameter of 1m, allowing the robot arm to move freely in all directions.

【2-DOF wrist joint + end effector】

[] The RoArm-M3 robotic arm series uses two wrist joints, “pitch + horizontal rotation”, to work in tandem with the end effector to easily achieve multi-dimensional grasping and manipulation.

【Cross-platform Web App Control】

[] No need to download or install, just enter the URL to access the control. The Web App we developed allows users to seamlessly connect and control RoArm-M3 through mobile phones, tablets, and computers. Click the screen buttons to control it, or modify the fully open source code to customize the interface and add your own functions

【Fully open source to support secondary development】

[] We have fully opened the control code and communication interface documents of the RoArm-M3 series. Based on the rich examples we provide, you can use multiple languages ​​and devices for secondary development. At the same time, we also provide modular routines and tutorial courses to facilitate zero-based users to learn

【Joint direct drive design】

[] The joint feedback accuracy can reach 0.088°

[] The joint angle feedback does not pass through any reduction group, and is directly obtained using a 12-bit high-precision magnetic encoder

[] The joint angle has higher accuracy and can calculate the actual position of the current target point through the angle of joint feedback

【Innovative dual-drive technology】

[] The shoulder joint torque is doubled

[] The dual-drive control algorithm we developed allows the two servos of the shoulder joint to highly coordinate the output torque, achieve a sudden increase in power, and greatly improve the overall load capacity of the RoArm-M3 robot arm series

【Direct drive gripper for precise force control】

[] The direct-drive gripper design allows for fine control of gripping force during the process, making it suitable for gripping items that cannot be squeezed with great force.

【Dynamic force adaptive control】

[] After turning on this function, the torque of each joint can be limited. When the external force is greater than the joint torque threshold (the threshold can be set), the robot arm will rotate with the external force. When the external force decreases to below the torque threshold, the robot arm will return to the specified position.

【One-click automatic recording, convenient creation of actions】

[] The RoArm-M3 series can save JSON instructions for robot control as task files. Task files will be saved in the Flash of ESP32 and will not be lost after power failure. The robot arm can perform complex repetitive operations by calling these task files.

【Simple coordinate input to accurately reach the target】

[] We have open-sourced the inverse kinematics control algorithm in a three-dimensional rectangular coordinate system: by inputting the target position, the inverse kinematics function will calculate the angle that each joint needs to rotate to accurately reach the target point.

【Soft curve movement】

[] We use a curve speed smoothing control algorithm to make the robot arm move more smoothly and naturally, and the robot arm does not vibrate when starting and stopping.

【ESP-NOW Wireless Control】

[] Low-latency remote collaboration

[] ESP-NOW is a low-latency, self-organizing wireless communication protocol that does not rely on network infrastructure. You can use one robotic arm to wirelessly control other robotic arms. The control methods can be broadcast control, multicast control, and unicast control.

* Note: The broadcast control has no limitation for the number of controlled devices, while the group control allows up to 20 devices. Please refer to the WIKI for more details.

【Based on ESP-NOW’s imitation model】

[] Issue action instructions in real time
[] In imitation mode, the robot arm that acts as the Leader will send its joint angles to other robots through ESP-NOW. When other robots are in Follower mode of ESP-NOW, they will imitate the Leader in real time and perform the same actions.

【Open control interface】

[] Support multiple devices and languages

[] The RoArm-M3 series can not only use Web applications to control the robot arm, but also support the use of other devices through HTTP protocol network requests, serial communication or USB cable connection

[] Send JSON format commands to RoArm-M3 to control and obtain feedback information

【Various installation options】

[] The RoArm-M3 series provides a variety of installation solutions and related secondary development materials, which can be flexibly adapted to different usage scenarios and integrated into your projects and applications.

【Standard expansion interface】

[] The main structure of the RoArm-M3 series arm is composed of two 1020 European standard aluminum profile rails. Other peripherals can be installed using boat nuts to adapt to different needs. We have included M4 screws and corresponding boat nuts in the accessory package, which is simple and convenient to use and helps you easily customize

【Support camera installation】

[] The RoArm-M3 series comes with a camera mounting bracket and the relevant drawings are open source. You can directly install a camera of the corresponding assembly size on the bracket, or install cameras of other specifications through an adapter.

For display only, this product only comes with one LED light

【ESP32 control core】

[] It uses the powerful ESP32 master MCU, supports multiple wireless communication protocols, and has a large amount of open source resources to help secondary development of innovative applications.

【Compatible with ROS2】

[] Assists in model building and multi-machine collaboration

[] Provides ROS2 communication nodes, URDF model description files, and ROS2 zero-based tutorials

【Rich tutorial resources】

[] We provide complete unit tutorials and cases, covering various functions and common application scenarios, to help users quickly get started and facilitate secondary development

【Universal driver board】

[] Rich resources to support innovation
[] Adopt universal driver board, provide rich interfaces and resources, support user innovation and development and function expansion

1. ESP32-WROOM-32 controller module
   Can be developed using Arduino IDE
2. IPEX1 WIFI connector
   For connecting WIFI antenna to increase the wireless communication distance
3. LIDAR interface
   Integrated radar adapter function
4. I2C peripheral expansion interface
   For connecting with OLED screen or other I2C sensors
5. Reset Button
   Press and release to reboot the ESP32
6. Download button
   The ESP32 will enter the download mode after powering on
7. DC-DC 5V voltage regulator circuit
   Power supply for host computers such as Raspberry Pi or Jetson nano
8. Type-C port (LADAR)
   LIDAR data transmission
9. Type-C port (USB)
   ESP32 communication interface, for uploading programs to ESP32
10. XH2.54 power port
    Support DC 7~13V input, can directly power the serial bus servos and motors
11. INA219
    voltage/current monitoring chip
12. Power ON/OFF
    External power supply ON/OFF
13. ST3215 serial bus servo interface
    For connecting with ST3215 serial bus servo
14. Motor interface PH2.0 6P
    Group B interface for motor with encoder

 

15. Motor interface PH2.0 6P
    Group A interface for motor with encoder
16. Motor interface PH2.0 2P
    Group A interface for motor without encoder
17. Motor interface PH2.0 2P
    Group B interface for motor without encoder
18. AK09918C
    3-axis electronic compass
19. QMI8658C
    6-axis motion sensor
20. TB6612FNG
    Motor Control Chip
21. Serial bus servo control circuit
    for controlling multiple ST3215 serial bus servos and obtaining servos feedback
22. TF card slot
    Can be used to store logs or WIFI configurations
23. 40PIN GPIO header
    For connecting with Raspberry Pi or other host boards
24. 40PIN extended header
    Easy to use the GPIO pins of Raspberry Pi or other host boards
25. CP-2102
    UART to USB, for radar data transmission
26. CP-2102
    UART to USB, for ESP32 communication
27. Automatic download circuit
    For Uploading programs to the ESP32 without pressing the EN and BOOT buttons

【Diverse onboard resources】

[] Supports functional expansion

[] Integrated INA219 battery voltage detection and 9-axis IMU sensor to support functional expansion innovation

【Mouse drag interaction】

[] More flexible control, you can set the action instructions when the mouse is pressed and lifted. We provide web applications and desktop software (open source program developed in Python) to achieve this operation

Specifications

DOF	5+1
WORK SPACE	Horizontal diameter: 1120mm (Max, 360° omnidirectional), Vertical: 798mm (Max)
OPERATING VOLTAGE	12V 5A power supply, supports 3S Lithium batteries (NOT included)
LOAD CAPACITY	0.2kg@0.5m
REPOSITIONING PRECISION	About 5mm
SERVO ROTATION SPEED	40rpm (no-load, no torque limit)
OPERATING RANGE	BASE-360°, SHOULDER-180°, ELBOW-180°, HAND-135°/270°
DRIVE TYPE	TTL Serial bus servo, direct-drive joint
SERVO NUMBERS	7
JOINT ANGLE SENSOR	12-bit 360° magnetic encoder
SERVO TORQUE	30KG.CM@12V, 20KG.CM@12V (end joint)
JOINT FEEDBACK INFORMATION	servo status, joint angle, rotation speed, joint load, servo voltage, servo current, servo temperature and servo working mode
MAIN CONTROL	ESP32-WROOM-32
MAIN CONTROL MODULE FEATURES	WiFi, BT, Dual Core, 240MHz
WIRELESS CONTROL MODE	2.4G-WiFi, ESP-NOW
WIRED CONTROL MODE	USB, UART
MANUAL OPERATION MODE	WEB control interface
HOST OPERATION MODE	Use UART / USB / WEB communication JSON data format command
HOST SUPPORT	USB connection devices including Raspberry Pi, Jetson Orin Nano, and PC.
EOAT FUNCTION	clamp function by default, can be changed as an additional degree of freedom
LED POWER	≤1.5W
OLED SCREEN SIZE	0.91inch
OTHER FUNCTIONS	2-ch 12V power supply switch, 9-DOF IMU
ROBOTIC ARM WEIGHT	RoArm-M3-S：973.5±15g RoArm-M3-Pro：1020.8g±15g
TABLE EDGE FIXING CLAMP WEIGHT	286±10g
SUPPORTED TABLE EDGE THICKNESS OF THE CLAMP	72mm
DEMO	3D Cartesian coordinate system control (inverse kinematics control); Dynamic external force adaptive control; Joint angle control; Operating information feedback; FLASH files system operation; Steps recording and replaying; ESP-NOW control; Leading-Following mode (Hand guiding control); LED control; 12V power supply ON/OFF control; WiFi function settings; Set startup tasks; Serial bus servo settings; Feedback mode setting, etc. (Note: Please refer to the WIKI for more details)

【Product and packaging display】

【Size】

[] RoArm-M3(S/Pro)

To：

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Email(support)

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