Waveshare 5+1 DOF High-Torque Robotic Arm Kit RoArm-M3-S/Pro is a next-generation robotic arm designed for research, education, and innovative applications. Built with serial bus servos, a direct-drive joint design, and powered by the ESP32 main control board, the RoArm-M3 series delivers high precision, strong torque, and versatile expandability. With wireless control, open-source resources, and compatibility with ROS2 and LeRobot, this robotic arm is ideal for developers, students, and professionals seeking a balance of performance, flexibility, and ease of use. Features High-torque serial bus servos with direct-drive design for precision feedback (up to 0.088°). Dual-drive shoulder technology doubles torque, enhancing load capacity. 5+1 DOF structure with a 2-DOF wrist joint for multi-dimensional clamping and operation. ESP32 onboard MCU supporting WiFi, Bluetooth, and ESP-NOW wireless control for low-latency collaboration. Cross-platform Web Application – no installation required, intuitive coordinate control, fully open-source for customization. Open-source development with modular demos, tutorials, and multi-language support. Compatible with ROS2 & LeRobot, enabling AI-driven applications such as imitation learning and reinforcement learning. Lightweight yet durable design – carbon fiber and aluminum alloy ensure stability with payload up to [email protected]. Multiple installation methods and expansion plates for peripherals like cameras, sensors, and custom EoATs. Dynamic external force adaptive control and curve velocity algorithm for smoother, safer movements. Specifications Specification RoArm-M3-S RoArm-M3-Pro DOF 5+1 5+1 Workspace Ø1120mm horizontal, 798mm vertical Same Operating Voltage 12V 5A, supports 3S Li-ion battery Same Load Capacity 0.2kg @ 0.5m 0.2kg @ 0.5m Servo Type ST3215 bus servos ST3235 all-metal bus servos Torque 30kg·cm @ 12V Higher durability, stable backlash Joint Feedback Angle, speed, load, voltage, current, temperature Same Main Control ESP32-WROOM-32 (WiFi, BT, dual-core 240MHz) Same Wireless Control WiFi, ESP-NOW Same Wired Control USB, UART Same Weight 973.5g ±15g 1020.8g ±15g Clamp Default clamp, customizable EoAT Same Compatibility ROS2, LeRobot, Arduino IDE Same Application Scenarios STEM Education & Robotics Training – Ideal for schools, labs, and workshops to teach robotic principles. AI & Machine Learning Research – Compatible with LeRobot, supports deep learning, imitation learning, and reinforcement learning projects. Industrial Prototyping – Lightweight and expandable design makes it suitable for automation experiments and mobile platforms. Human-Machine Interaction – Web-based control and adaptive force response enable safe collaboration. Vision-based Applications – Camera integration for object recognition, tracking, and AI-driven manipulation. Multi-device Collaboration – ESP-NOW wireless protocol allows multiple robotic arms to work in sync. Version Options Provides options for RoArm-M3-S / RoArm-M3-Pro. The RoArm-M3-Pro is equipped with 5x all-metal ST3235 bus servos, offering a more rugged body and stable backlash that won't increase with use, enhancing product durability. Part List RoArm-M3-S RoArm-M3-Pro General Driver Board for Robots Onboard rich interfaces and resources for innovative development and functional expansion ESP32-WROOM-32 controller moduleCan be developed using Arduino IDE IPEX 1 WIFI connectorFor connecting WIFI antenna to increase the wireless communication distance LIDAR interfaceIntegrated LIDAR adapter function I2C peripheral expansion interfaceFor connecting with OLED screen or other I2C sensors Reset ButtonPress and release to reboot the ESP32 Download buttonPress when powering on to enter download mode DC-DC 5V voltage regulator circuitProvides power supply for host computers such as Raspberry Pi or Jetson nano Type-C port (LADAR)LIDAR data transmission Type-C port (USB)ESP32 communication interface, for uploading programs to ESP32 XH2.54 power portSupport DC 7~13V input, can directly power the serial bus servos and motors INA219voltage/current monitoring chip Power ON/OFFExternal power supply ON/OFF ST series serial bus servo interfaceFor connecting with ST3215 / ST3235 serial bus servo Motor interface PH2.0 6PGroup B interface for motor with encoder Motor interface PH2.0 6PGroup A interface for motor with encoder Motor interface PH2.0 2PGroup A interface for motor without encoder Motor interface PH2.0 2PGroup B interface for motor without encoder AK09918C3-axis electronic compass QMI8658C6-axis motion sensor TB6612FNGMotor Control Chip Serial bus servo control circuitfor controlling multiple ST3215 serial bus servos and obtaining servos feedback TF card slotCan be used to store logs or WIFI configurations 40PIN GPIO headerFor connecting with Raspberry Pi or other host boards 40PIN extended headerEasy to use the GPIO pins of Raspberry Pi or other host boards CP-2102UART to USB, for LIDAR data transmission CP-2102UART to USB, for ESP32 communication Automatic download circuitFor Uploading programs to the ESP32 without pressing the EN and BOOT buttons Dimensions More Detail Compatible with the popular AI robotic arm project - LeRobot The Waveshare Robotic Arm RoArm-M3-S/Pro supports the open-source LeRobot framework on Hugging Face, providing pretrained models, datasets, and simulation environments. Combined with NVIDIA Jetson Orin NX or a PC with discrete GPU, users can explore Imitation Learning and Reinforcement Learning projects. Flexible joints × omnidirectional space Adopts a 360° rotation base and flexible joints to create an omnidirectional operating space with 1-meter diameter, allowing the Waveshare RoArm-M3-S Robotic Arm to move freely in all directions. 2 DOF Wrist Joint + EoAT for flexible clamping Equipped with a 2 DOF wrist jointRoArm-M3-Pro Robotic Arm enables seamless coordination with the EoAT for multi-dimensional clamping and operation. Easy to control via Cross-platform Web Application No App installation required. Access directly via browser. Control the Waveshare Robotic Arm RoArm-M3-S/Pro on mobile, tablet, or PC. Supports secondary development of the open-source Web App for UI customization and new functions.
