RoArm-M2-S High-torque Serial Bus Servo Desktop Robotic Arm Kit, Based On ESP32, 4-DOF - Waveshare 25974

Features at a glance

Multiple EoAT mounting methods

The EoAT supports various mounting methods, can be used as a clamp or as the fourth degree of freedom. Provides Open-source DXF and 3D models for DIY and secondary development

Flexible joints × omnidirectional space

Adopts 360° rotation base and flexible joints to create an omnidirectional operating space with a 1-meter diameter, allowing the EoAT to move freely in all directions

Easy to control via Cross-platform Web Application

No App installation required, access after entering the address. Allows users to connect and control RoArm-M2-S 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.

Completely open source for secondary development

Completely open source for the control codes and communication interface documents of Roarm-M2-S, supports multiple languages and devices for secondary development. Provides modularized demos and tutorials for zero-based users, easy to get started.

Lightweight body, excellent load capacity

Lightweight body with a total weight of less than 850g, adopts carbon fiber and 5052 aluminum alloy to ensure stability under heavy loads, suitable for various mobile robot chassis

Joint Direct-drive design The Feedback precision up to 0.088°

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.

Innovative dual-drive technology doubles the shoulder joint torque

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-S

Direct-drive clamp enables precise force control

The direct-drive clamp design allows precise control of the clamp force in the program, suitable for clamping delicate objects without applying excessive force

Supports installing rubber bands to compensate for the influence of gravity

The SHOULDER and ELBOW joints support installing the rubber bands to assist the robotic arm, by utilizing the elastic contraction of rubber bands to compensate for the influence of gravity and increase the effective load of the robotic arm.

Dynamic external force 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.

One-click automatic recording Easy to create actions

RoArm-M2-S 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.

Accurately reach the target by 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.

Curve Velocity Control for 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

ESP-NOW wireless control 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.

Supports Leading-following control mode based on ESP-NOW

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.

multiple Control interfaces, multiple devices and languages Support

RoArm-M2-S 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.

Multiple installation methods for Integrating into Your Application

Provides multiple installation schemes and related secondary development resources, suitable for different usage scenarios and can be flexibly integrated into your projects and applications

Easy To install different peripherals

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.

Supports installing a camera to extend visual applications

Comes with a camera holder and open source for the related drawings. You can directly install a camera with the corresponding size or other cameras with an adapter.

Supports expanding different EoAT for more functions

Comes with an expansion plate, easy for users to expand and replace different EoAT for more functions

Onboard ESP32 Main control board

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

Compatible with ROS2, Provides model establishment File and supports multi-device cooperation

Provides communication nodes of ROS2, URDF model description file and zero-based tutorial of ROS2

Rich tutorial resources for 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

General Driver Board for Robots

Onboard rich interfaces and resources for innovative development and functional expansion

Diversified onboard resources Supports function expansion

Integrated TB6612FNG motor drive IC, INA219 battery voltage Monitoring, and 9-axis IMU sensor, supports function expansion and innovation

Mouse drag-and-drop interaction

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

Specifications

Dimensions

Resources & Services

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WIKI: www.waveshare.com/wiki/RoArm-M2-S

 

 

Package Content

Weight: 1.487 kg