ESP32 4-DOF Robot Arm Kit RoArm-M2-Pro with High Torque Serial Bus Servos

Discover the RoArm-M2-PRO, featuring new servos, an innovative 4DOF (Degrees of Freedom) smart robot arm that heralds a new era in robotics. This robot arm is characterized by its lightweight design, weighing less than 850g, while offering an effective payload. With a 360° omnidirectional base and three flexible joints, its working range extends to a diameter of one meter, enabling high flexibility and reach. The joint-direct-drive design not only improves repositioning accuracy but also increases structural reliability. Thanks to the innovative dual-drive technology, the torque of the shoulder joint is doubled. The robot arm is powered by a high-performance ESP32 MCU main control module that supports multiple wireless control modes and offers a variety of interfaces and communication protocols. The user-friendly and cross-platform web interface greatly simplifies getting started. The robot arm is compatible with ROS2 and various host computers and supports numerous wireless and wired communication modes.

Features:

• Enhanced ST3235 full metal bus servos
• Expandability: Supports customization of multifunctional EoAT (End of Arm Toolings).
• Omnidirectional working range: Provides diverse movement possibilities thanks to the 360° rotatable base.
• User-friendliness: Easy-to-use web interface and coordinate control mode.
• Open-source code: Available for custom developments.
• Lightweight structure: Made of carbon fiber and 5052 aluminum alloy.
• Direct-drive design: Ensures a repeatability of 0.088°.
• Dual-drive technology: Increases the torque in the shoulder joint.
• Powerful main control: ESP32 MCU, supports various interfaces and protocols.
• Multiplatform support: Compatible with ROS2 and various host computers.
• Extensive tutorials: Graphic and video guides facilitate getting started.

Application Examples:

• Educational institutions for robotics and programming courses.
• Research projects in robotics and automation.
• DIY projects and hobbies in the fields of electronics and robotics.
• Innovation projects in companies and startups.

Documentation:

• Waveshare Wiki

Board Overview:

1. ESP32-WROOM-32 Controller Module Can be developed with the Arduino IDE
2. IPEX1 WiFi connector For connecting a WiFi antenna to increase the range of wireless communication
3. LiDAR interface Integrated radar adapter function
4. I2C extension interface For connecting an OLED display or other I2C sensors
5. Reset button Press and release to restart the ESP32
6. Download button The ESP32 starts in download mode after switching on
7. DC-DC 5V voltage regulator circuit Power supply for host computers such as Raspberry Pi or Jetson Nano
8. Type-C port (LiDAR) For transmitting LiDAR data
9. Type-C port (USB) Communication interface of the ESP32, for uploading programs to the ESP32
10. XH2.54 power connector Supports DC 7–13V input, can directly power serial bus servos and motors
11. INA219 Voltage/Current monitoring chip
12. Power switch For turning external power on and off
13. ST3215 Serial bus servo interface For connecting to ST3215 serial bus servos
14. Motor interface PH2.0 6P Group B interface for motors with encoders
15. Motor interface PH2.0 6P Group A interface for motors with encoders
16. Motor interface PH2.0 2P Group A interface for motors without encoders
17. Motor interface PH2.0 2P Group B interface for motors without encoders
18. AK09918C Three-axis electronic compass
19. QMI8658C 6-axis motion sensor
20. TB6612FNG Motor control chip
21. Control circuit for serial bus servos For controlling multiple ST3215 servos and retrieving feedback
22. TF card slot For storing logs or WiFi configurations
23. 40PIN GPIO header For connecting to Raspberry Pi or other host boards
24. 40PIN expansion header Facilitates the use of GPIO pins of Raspberry Pi or other host boards
25. CP-2102 UART-to-USB, for transmitting radar data
26. CP-2102 UART-to-USB, for ESP32 communication
27. Automatic download circuit For uploading programs to the ESP32 without pressing the EN and BOOT buttons

Specifications

• Manufacturer: Waveshare
• Manufacturer SKU: 29287
• Main control: ESP32 MCU
• Degrees of freedom (DOF): 4
• Workspace: Horizontal diameter: 1090mm (Max, 360° omnidirectional), Vertical: 798mm (Max)
• Operating voltage: 12V 5A power adapter, supports 3S lithium batteries (not included)
• Payload: 0.5kg at 0.5m
• Repositioning accuracy: ≈±4mm (under the same load)
• Servo rotation speed: 40 RPM (no load, no torque limit)
• Operating range: Base-360°, Shoulder-180°, Elbow-180°, Hand-135°/270°
• Drive type: TTL serial bus servo, direct-drive joint
• Number of servos: 5 (4x ST3235, 1x ST3215-HS)
• 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 operating mode
• Main control: ESP32-WROOM-32
• Main control module functions: WiFi, BT, Dual Core, 240MHz
• Wireless control mode: 2.4G-WiFi, ESP-NOW
• Wired control mode: USB, UART
• Manual operating mode: WEB control interface
• Host operating mode: UART/USB/ESP-NOW*/HTTP communication via JSON command data format (* Feedback information is not available in ESP-NOW communication mode)
• Host support: USB-connected devices including Raspberry Pi, Jetson Orin Nano, and PC.
• EOAT function: Default clamping function, can be changed as an additional degree of freedom
• LED power: ≤1.5W
• OLED screen size: 0.91 inch
• Additional features: 2-channel 12V power switch, 9-DOF IMU
• Supported table edge thickness of clamp: <72mm
• Dimension: 545 x 140 x 120mm
• Weight: 1865g

Package Contents:

• 1x ESP32 4-DOF Robot Arm Kit RoArm-M2-Pro
• 1x Control module with ESP32
• 1x 12V 5A power adapter
• 1x Assembly material kit
• 1x Various mounting plates