WAVESHARE 3+1 DOF High-Torque Serial Bus Servo Desktop Robotic Arm Kit Supports Flexible Expansion Wireless Control, US Plug, UK Plug, EU Plug

1. Flexible joint movement and an omnidirectional workspace. The 360-degree rotating base, combined with flexible joint movement, creates a 1-meter-diameter omnidirectional workspace within easy reach, allowing the robotic arm to move freely in all directions
2. Simple and easy to use, with cross-platform Web App control， no download or installation required; simply enter the URL to access and control the robot
3. Fully open-source, supporting secondary development
4. Joint feedback accuracy reaches 0.088 degrees. Joint angle feedback bypasses any reduction gears, utilizing 12-bit high-precision magnetic encoders to directly measure joint angles, ensuring higher precision. The actual position of the current target point can be calculated based on the joint feedback angles
5. Dual-drive control algorithm enables the two servos in the shoulder joint to coordinate torque output with high precision, significantly enhancing the overall load-carrying capacity of the robotic arm series
6. Utilizes gear transmission and a parallel linkage structure to achieve stable power output and precise parallel opening and closing, effectively reducing gripping wobble. Supports programmable adjustment of the gripper’s opening and closing angles to easily adapt to objects of different sizes and meet diverse gripping needs
7. The isolation column is flexible and adjustable, easily adapting to different requirements
8. Dynamic external force adaptation control: When this feature is enabled, the maximum torque for each joint can be limited. When the applied external force exceeds the joint torque threshold (the threshold value is configurable), the robotic arm will rotate in response to the external force; when the external force decreases below the torque threshold, the robotic arm will return to its specified position
9. One-click automatic recording for convenient motion creation. JSON commands used for robot control can be saved as task files. These task files are stored in the ESP32’s Flash memory and are not lost in the event of a power outage; the robotic arm can execute complex repetitive operations by calling these task files
10. Simple coordinate input for precise target acquisition. By entering the target position, the inverse kinematics function calculates the rotation angles required for each joint, enabling the robotic arm to accurately reach the target point
11. Smooth, curved motion for more fluid movements. A curved velocity smoothing control algorithm is used to make the robotic arm’s movements smoother and more natural, with no jerk during starts and stops
12. Low-latency wireless control for remote collaboration. One robotic arm can wirelessly control other robotic arms using broadcast, multicast, or unicast control modes
13. In mimic mode, the robot arm acting as the Leader transmits its joint angles to other robot arms via ESP-NOW. When other robot arms are in ESP-NOW Follower mode, they mimic the Leader in real time, performing the same movements
14. Open control interface supporting multiple devices and programming languages
15. Utilizes the powerful ESP32 as the main control MCU, supporting multiple wireless communication protocols
16. Drag-and-drop interaction provides greater flexibility in control; action commands can be configured for when the mouse button is pressed or released

Specifications
1. Number of degrees of freedom: 3 + 1
2. Working space: maximum horizontal diameter 1017 mm (360° omnidirectional), maximum vertical range 778 mm
3. Operating voltage: standard 12V 5A power supply; can be powered by a 3S lithium-ion battery pack
4. Payload capacity: 0.5 kg, 0.5 m
5. Unidirectional repeatability: about ±4 mm (with the same payload)
6. Driver rotation speed: 40 rpm (no-load, no torque limit)
7. Operating range: BASE-360°, SHOULDER-180°, ELBOW-180°, HAND-180°
8. Drive method: TTL bus servo (TTL BUS SERVO), direct-drive joints
9. Number of drives: 5
10. Joint angle sensor: 12-bit 360-degree magnetic encoder
11. Driver stall torque: 30 kg·cm at 12 V
12. Joint feedback information: driver status, joint angle, rotational speed, joint load, driver voltage, driver current, driver temperature, driver operating mode
14. On-board controller: ESP32-WROOM-32
15. On-board controller module features: Wi-Fi, Bluetooth, Dual-Core, 240 MHz
16. Wireless control methods: 2.4 GHz Wi-Fi, ESP-NOW
17. Wired control methods: USB, UART
18. Manual control method: web-based control interface
19. Robot control method: commands in JSON format via UART/USB/Web communication
20. Compatible host devices: for Raspberry Pi, Jetson Orin Nano, PC, and other devices supporting USB connection
21. OLED screen size: 0.91 inches
22. Other on-board features: two 12V switches, 9-DOF IMU
23. Robot arm eeight: RoArm-M2-GA: 930 ± 15 g (excluding the desk-mount clamp)
24. Desk-mount clamp weight: 290 ± 10 g
25. Maximum desk edge thickness supported by the desk-mount clamp: 72 mm
26. Robot arm routine functions: 3D Cartesian coordinate system control (inverse kinematics control), dynamic external force adaptation control, joint angle control, operational feedback, Flash file system operations, step recording and playback, ESP-NOW control, mimic mode, onboard 12V switch control, Wi-Fi-related settings, power-on mode settings, bus servo-related settings, feedback mode settings, and more. Note: This is only a general overview; for specific functions and related commands of the open-source routines, please refer to the WIKI