Details
3+1 DOF High-Torque Serial Bus Servo Robotic Arm,
supports flexible expansion and secondary development
RoArm-M2-GA series is a 3+1 DOF smart robotic arm designed for innovative applications. Adopts a lightweight structural design with an effective payload of 0.5kg at 0.5m, it can be flexibly mounted on various mobile platforms. Adopts a 360° omnidirectional base combined with three flexible joints to create a workspace with a 1m diameter.
The joint direct-drive design enhances repeat positioning precision and also improves structural reliability, with innovative dual-drive technology doubling the shoulder joint torque. Onboard ESP32 MCU main control module supports multiple wireless control modes, provides control interfaces and rich communication protocols for easily connecting to various devices.
Provides a user-friendly and cross-platform WEB application that integrates a simple and visualized coordinate control mode, making it easier to get started. Comes with rich graphic and video tutorials to help you learn and use it quickly. Compatible with ROS2 and various host computers, supports various wireless and wired communication modes. Equipped with standard expandable modules, supporting customizable end-effectors for multi-functional applications.
RoArm-M2-GA series achieves an excellent balance between lightweight, user-friendliness, expandability, and open innovation, it is a multifunctional robotic arm that integrates intelligent control, human-machine interaction, and customizable development. Ideal for applications that require a combination of flexibility, expandability, and user-friendliness.
Adopts 360° rotation base and flexible joints to create an omnidirectional operating space with a 1m diameter, enabling the robotic arm to move freely in all directions
* for reference only, please refer to the Package Content for the detailed part list
Cross-platform Web Application
No App installation required, access after entering the address. Allows users to connect and control RoArm-M2-GA via mobile phones, tablets and computers by clicking the buttons on the Web App. Supports secondary development of this open-source Web App to customize the user interface and add new functions
secondary development
Completely open source for the control codes and communication interface documents of RoArm-M2-GA series, supports multiple languages and devices for secondary development. Provides modularized demos and tutorials for zero-based users, easy to get started.
The joint angle feedback can be obtained directly via a 12-bit high-precision magnetic encoder without any reduction groups, which is more accurate, and the actual position of the current target point can be calculated based on the joint angle feedback.
We have developed a dual-drive control algorithm that allows the two servos at the shoulder joint to coordinate their output torque effectively, significantly enhancing the power and the overall load capacity of RoArm-M2-GA Series
with multi-size compatibility
Adopts a gear transmission and parallel linkage structure to achieve stable power output and precise parallel opening/closing, effectively reducing gripping deflection. Supports programmatic adjustment of gripper opening and closing angles, enabling flexible adaptation to different object sizes and gripping requirements.
The spacers on the gripper jaws are height-adjustable and removable, enabling stable gripping of objects in different sizes and shapes
adaptive control
After enabling this function, you can limit the maximum torque for each joint. When the external force applied to the joint exceeds the torque threshold (configurable), the robotic arm will rotate in response to the external force, and will return to the specified position when the external force decreases below the torque threshold.
Easy to create actions
RoArm-M2-GA can save JSON instructions for robot control as task files. The task files can be saved in the Flash of ESP32, which will not be lost in case of power loss. The robotic arm can perform complex and repetitive operations by calling these task files.
entering the coordinates
Open source for inverse kinematics control algorithm in the three-dimensional Cartesian coordinate system. After entering the target position, the robot arm can accurately reach the target point by using the inverse kinematics function to calculate the rotation angle of each joint.
Smoother movement
We use the curve velocity control algorithm to make the robotic arm move smoother and more naturally, without oscillations during start and stop
Low-delay remote collaboration
ESP-NOW is a low-delay ad hoc wireless communication protocol, without the need of Network infrastructures. You can use one robotic arm to wirelessly control other robotic arms, and the control methods can be set as broadcast control, group control, and one-to-one 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.
In the Leading-following control mode, the Leader robotic arm will send its joint angle information to other robotic arms via ESP-NOW communication. The other robotic arms which are in ESP-NOW Follower mode will imitate the same actions as the Leader in real time.
RoArm-M2-GA series can be controlled not only by the WEB application, but also supports using other controllers to send JSON commands via HTTP protocol network request, serial communication, or USB communication for controlling and obtaining feedback.
Provides multiple installation schemes and related secondary development resources, suitable for different usage scenarios and can be flexibly integrated into your projects and applications
The main structure of the upper arm adopts two 1020 European standard aluminum rails, supports installing additional peripherals via the boat nuts to meet different needs. Comes with boat nuts and corresponding M4 screws for easy installation.
to extend visual applications
The RoArm-M2-GA robotic arm series provides reserved space on the gripper for camera mounting, allowing easy camera expansion and enabling vision applications
* for reference only, please refer to the Package Content for the detailed part list
Adopts ESP32 powerful main control MCU, supports Multiple wireless communication protocols, with a large amount of open source resources to help secondary development of innovative applications
Provides communication nodes of ROS2, URDF model description file
and zero-based tutorial of ROS2
secondary development
We provide complete unit tutorials and cases, including various functions and common application scenarios, to help users get started quickly for secondary development
Onboard rich interfaces and resources for innovative development and functional expansion
- ESP32-WROOM-32 controller module
can be developed using Arduino IDE - IPEX 1 Wi-Fi connector
for connecting Wi-Fi antenna to increase the wireless communication distance - LIDAR header
Integrated radar adapter function - I2C peripheral expansion header
for connecting with OLED display or other I2C sensors - Reset Button
Press and release to reboot the ESP32 - Download button
The ESP32 will enter the download mode after powering on - DC-DC 5V voltage regulator circuit
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 supply header
supports 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 serial bus servo headers
for connecting with ST3215 and ST3235 serial bus servo
- PH2.0 6P motor header
Group B header for motor with encoder - PH2.0 6P motor header
Group A header for motor with encoder - PH2.0 2P motor headers
Group A headers for motor without encoder - PH2.0 2P motor headers
Group B headers 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 WI-FI configurations - 40PIN GPIO header
for connecting with Raspberry Pi or RDK X3 - 40PIN expansion header
Easy to use the GPIO pins of Raspberry Pi or RDK X3 - CP-2102
UART to USB, for radar 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
Supports function expansion
Integrated INA219 Batt voltage Monitoring, and 9-axis IMU sensor, supports function expansion and innovation
Provides Web applications and desktop software (open-source programs developed by Python), supports setting action instructions when the mouse is pressed and released to control the robotic arm flexibly
| DOF | 3 + 1 |
|---|---|
| Work space | Horizontal diameter: 1017mm (Max, 360° omnidirectional), Vertical: 778mm (Max) |
| Operating voltage | 12V 5A power supply, supports 3S Lithium Batts (NOT included) |
| Load capacity | 0.5kg at 0.5m |
| Unidirectional positioning repeatability | ≈±4mm (under the same load) |
| Servo rotation speed | 40rpm (no-load, no torque limit) |
| Operating range | BASE-360°, SHOULDER-180°, ELBOW-180°, HAND-180° |
| Drive type | TTL Serial bus servo, direct-drive joint |
| Servo numbers | 5 |
| Joint angle sensor | 12-bit 360° magnetic encoder |
| Servo torque | 30KG.CM at 12V |
| 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 | Wi-Fi, BT, Dual Core, 240MHz |
| Wireless control mode | 2.4G Wi-Fi, ESP-NOW |
| Wired control mode | USB, UART |
| Manual operation mode | WEB control interface |
| Host operation mode | UART/USB/WEB communication via JSON data format commands |
| Host support | USB connection devices including Raspberry Pi, Jetson Orin Nano, and PC |
| OLED display size | 0.91inch |
| Other functions | 2-ch 12V power supply switches, 9-DOF IMU |
| Robotic arm weight | RoArm-M2-GA: 930 ± 15g (not including the table edge fixing clamp) |
| table edge fixing clamp weight | 290g ± 10g |
| Supported table edge thickness of the clamp | Max. 72mm |
| Demo | 3D Cartesian coordinate system control (inverse kinematics control), dynamic external force adaptive control, joint angle control, operating information feedback, FLASH file system operation, steps recording and replaying, ESP-NOW control, Leading-Following mode (hand guiding control), 12V power supply ON/OFF control, Wi-Fi function settings, set startup tasks, serial bus servo settings, feedback mode setting, etc. (Note: please refer to the WIKI for more details) |
* Resources for different product may vary, please check the wiki page to confirm the actually provided resources.
Quick Overview
RoArm-M2-GA x1
