Waveshare RoArm-M2-S Desktop 4-DOF Robotic Arm Kit Based On ESP32

Waveshare RoArm-M2-S Desktop 4-DOF Robotic Arm Kit Based on ESP32

The RoArm-M2-S is a 4-DOF smart robotic arm designed for precision and adaptability across various applications. Weighing under 900g, it supports a 0.5kg payload at 0.5m and offers a 1-meter diameter workspace with its 360° omnidirectional base and flexible joints. Its direct-drive joint design and dual-drive technology ensure enhanced torque and accuracy, making it ideal for mobile platforms.

Powered by an ESP32 MCU, it supports multiple wireless control modes, ensuring seamless integration with different devices. The user-friendly web app features an intuitive coordinate control mode, making operation effortless for both beginners and experts.

Features:

Enhanced EoAT Versatility

The End-of-Arm Tool (EoAT) can function as the fourth degree of freedom or as a clamp, supporting multiple mounting methods. Includes open-source DXF and 3D models for easy customization and DIY projects.

Omnidirectional Motion with Flexible Joints

Designed with flexible joints and a 360° rotating platform, the RoArm-M2-S offers a 1-meter operating range, enabling unrestricted movement in all directions.

Seamless Cross-Platform Web Control

No app installation required—simply enter the robot’s address to connect via PC, tablet, or smartphone. The open-source Web App supports custom UI modifications and feature expansion for advanced users.

Fully Open-Source for Custom Development

The RoArm-M2 series provides open-source control codes and communication interface documentation, supporting multiple programming languages and hardware platforms. Offers modular training resources, making it beginner-friendly.

Lightweight Yet High-Strength Build

Weighing less than 900g, the robotic arm is built with carbon fiber and 5052 aluminum alloy, ensuring stability and durability while maintaining compatibility with various mobile robot chassis.

High-Precision Joint Feedback (0.088° Accuracy)

Equipped with a 12-bit magnetic encoder, the system directly extracts joint angle feedback for enhanced accuracy, allowing for precise positioning of the robotic arm.

Dual-Drive Technology for Enhanced Torque

A custom dual-drive control algorithm significantly increases shoulder joint torque, enabling higher power output and greater load capacity, ensuring smooth and stable operation.

Direct-Drive Clamp for Precise Force Control

The direct-drive clamp design allows for fine-tuned force adjustments, ensuring delicate objects are securely gripped without excessive pressure.

Curve Velocity Control for Smooth Motion

Utilizes an advanced curve velocity control algorithm to minimize oscillations, delivering a natural and fluid movement experience, especially during start and stop operations.

Other Features:

• Rubber Band Gravity Compensation – Uses rubber bands on the shoulder and elbow joints to counteract gravity, increasing the arm’s effective load capacity.
• Adaptive Force Control – Sets maximum torque limits for joints, allowing the arm to yield when external force exceeds the threshold and return when force decreases.
• One-Click Action Recording – Saves JSON task files in ESP32 Flash for repeatable and reliable robotic operations.
• Precision Targeting with Coordinates – Uses inverse kinematics to calculate joint angles for accurate 3D Cartesian positioning.
• ESP-NOW Wireless & Low-Latency Control – Supports network-free, low-delay control, enabling broadcast, group, and one-to-one communication.
• ESP-NOW Leader-Follower Mode – The Leader arm transmits joint angle data to Follower arms, allowing real-time synchronized movement.
• Multiple Control Interfaces – Operates via Web App, JSON commands, HTTP, serial, or USB, supporting various devices and programming languages.
• Flexible Installation Options – Offers multiple mounting methods and extensive development resources for seamless integration into different projects.
• Easy Peripheral Installation – Features two 1020 aluminum rails with boat nuts and M4 screws for quick attachment of additional peripherals.
• Camera Support for Visual Applications – Includes a camera holder and open-source design files for direct camera installation.
• EoAT Expansion Compatibility – Comes with an expansion plate, making it easy to swap and install different end-effectors (EoAT).
• ESP32 Onboard Main Control Board – Supports multiple wireless protocols and offers extensive open-source development resources.
• ROS2 Compatibility – Provides ROS2 communication nodes, URDF model files, and a beginner-friendly ROS2 tutorial.
• Comprehensive Development Tutorials – Includes detailed guides and case studies for users to quickly start secondary development.
• General-Purpose Driver Board – Equipped with rich interfaces and expansion options for robotic development and upgrades.
• Integrated Onboard Resources – Features TB6612FNG motor driver, INA219 battery monitoring, and a 9-axis IMU sensor for enhanced functionality.
• Mouse Drag-and-Drop Control – Provides a Web and Desktop interface (Python-based) for intuitive action programming via mouse clicks.

Package Includes:

• 1x RoArm-M2-S
• 1x Accessories pack
• 1x 12V 5A power supply
• 1x Expansion mounting plate
• 1x Camera holder
• 1x EoAT expansion plate
• 1x Base mounting plate

Specifications: