Waveshare RoArm-M2-S – Desktop 4-DOF Robotic Arm

RoArm-M2 series is a 4DOF smart robotic arm designed for innovative applications. Adopts lightweight structure design with a total weight of less than 900g and the effective payload of [email protected], 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 1-meter diameter.

The joint direct-drive design enhances repositioning 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. Comes with an expansion plate, supports customizing the EoAT (End of Arm Tooling) to meet innovative application requirements.

RoArm-M2 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.

Available options

• RoArm-M2-S – GRobotronics SKU: 31-00025974
• RoArm-M2-Pro – GRobotronics SKU: 31-00029287

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 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.

Lightweight body, excellent load capacity

Lightweight body with a total weight of less than 900g, adopts carbon fiber and 5052 aluminum alloy to ensure stability under heavy loads, suitable for various mobile robot chassis.

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

A dual-drive control algorithm 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 Series.

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.

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

Curve velocity control algorithm 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 page 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 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.

Completely open source for secondary development

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

Multiple control interfaces, multiple devices and languages support

RoArm-M2 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.

One-click automatic recording

RoArm-M2 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.

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

Complete unit tutorials and cases are provided, including various functions and common application scenarios, to help users get started quickly for secondary development.

Diversified onboard resources

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 with Python), supports setting action instructions when the mouse is pressed and released to control the robotic arm flexibly.