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

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

The RoArm-M2-Pro Desktop 4-DOF Robotic Arm Kit Based on ESP32 designed for innovative applications, featuring a lightweight structure (<900g) and a 0.5kg payload at 0.5m reach. With a 360° omnidirectional base and three flexible joints, it offers a 1-meter workspace, making it ideal for mobile platforms.

Its joint direct-drive design enhances precision and reliability, while dual-drive technology boosts shoulder joint torque. Powered by an ESP32 MCU, it supports multiple wireless control modes and seamless integration with various devices via rich communication protocols.

The arm includes a user-friendly web application with visualized coordinate control, ROS2 compatibility, and customizable End of Arm Tooling (EoAT) for versatile applications. It also supports wired and wireless communication and comes with extensive tutorials for easy learning.

Features:

Multiple EoAT mounting methods

The EoAT can be used as the fourth degree of freedom or as a clamp and supports a number of mounting techniques. offers open-source DXF and 3D models for secondary development and do-it-yourself projects.

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

Controlling with a Cross-Platform Web Application is Simple.

Access is available after inputting the location; no app installation is necessary. enables users to connect and control RoArm-M2 through the Web App's buttons on PCs, tablets, and smartphones. encourages secondary development of this open-source web application in order to add new features and modify the user interface.

Open Source in its Entirety for Secondary Development

The Roarm-M2 series' control codes and communication interface papers are fully open source, supporting a variety of languages and secondary development devices. offers simple-to-use, modularized training and examples for novices with no prior experience.

Lightweight Construction and Superior Load Capacity

Suitable for a variety of mobile robot chassis, the lightweight body weighs less than 900g overall and uses carbon fiber and 5052 aluminum alloy to provide stability under heavy loads.

Joint Direct Drive Design the Feedback Precision up to 0.088°

A 12-bit high-precision magnetic encoder without any reduction groups can be used to directly extract the joint angle feedback, which is more accurate. The joint angle feedback can then be used to calculate the current target point's real position.

Innovative Dual-Drive Technology Doubles the Shoulder Joint Torque

We have created a dual-drive control algorithm that greatly increases the power and total load capacity of the RoArm-M2-Pro Series by enabling the two servos at the shoulder joint to efficiently coordinate their output torque.

Direct-Drive Clamp Enables Precise Force Control

Delicate objects can be clamped without using too much force because to the direct-drive clamp design, which provides fine control over the clamp force in the program.

Curve Velocity Control for More Comfortable Motion

To eliminate oscillations during start and stop, we employ the curve velocity control method to make the robotic arm operate more smoothly and organically.

Other Features:

• Rubber Band Support for Gravity Compensation: By using the elastic contraction of rubber bands to counteract the effects of gravity and raise the robotic arm's effective load, the SHOULDER and ELBOW joints facilitate the installation of rubber bands to support the arm.
• Adaptive Force Control: Enabling this function allows you to set a maximum torque limit for each joint. When external force exceeds the threshold, the arm rotates in response and returns to position once the force decreases.
  
• One-Click Action Recording: RoArm-M2 saves JSON task files in ESP32 Flash for reliable, repeatable robotic operations.
• Precise Targeting via Coordinates: Open-source inverse kinematics control enables precise movement in a 3D Cartesian system, calculating joint angles to reach target positions accurately.
  
• ESP-NOW Wireless & Low-Delay Control: ESP-NOW enables low-delay wireless control without network infrastructure, supporting broadcast, group, and one-to-one robotic arm control.
• ESP-NOW Leading-Following Control Mode: In Leading-following mode, the Leader arm sends joint angle data via ESP-NOW to Follower arms, which mimic its actions in real time.
• Multiple Control Interfaces & Device/Language Support: RoArm-M2 series can be controlled via the WEB app, JSON commands over HTTP, serial, or USB communication for control and feedback.
• Multiple Installation Methods for Integration: Offers multiple installation schemes and development resources for flexible integration into various projects and applications.
  
• Easy To install different peripherals: The upper arm structure features two 1020 European standard aluminum rails with boat nuts and M4 screws for easy installation of additional peripherals.
  
• Camera Support for Visual Applications: Includes a camera holder and open-source drawings, allowing direct installation of a compatible camera or others with an adapter.
  
• Supports EoAT Expansion for More Functions: Comes with an expansion plate, easy for users to expand and replace different EoAT.
  
• Onboard ESP32 Main control board: Adopts ESP32 MCU, supports multiple wireless protocols, and offers extensive open-source resources for innovative application development.
• ROS2 Compatible with Model Files & Multi-Device Support: Provides communication nodes of ROS2, URDF model description file and zero-based tutorial of ROS2.
  
• Extensive Development Tutorials: Complete tutorials and case studies covering functions and applications to help users quickly get started with secondary development.
  
• General Driver Board for Robots: Onboard rich interfaces and resources for innovative development and functional expansion.
• Versatile Onboard Resources & Expansion Support:  Integrated TB6612FNG motor drive IC, INA219 battery voltage monitoring, and 9-axis IMU sensor, enabling function expansion and innovation.
• Mouse drag-and-drop interaction: Offers web and desktop software (open-source Python programs) to set action instructions with mouse press/release for flexible robotic arm control.

Package Includes:

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

Specifications: