1. Number of degrees of freedom: 4
2. Workspace: horizontal diameter 1090mm (Max, 360 degrees omnidirectional), vertical range 798mm (Max)
3. Working voltage: standard 12V 5A power supply, can be powered by 3S lithium battery pack
4. Load capacity: 0.5kg@0.5m
5. Repeat positioning accuracy: about +/-4mm (same load)
6. Drive rotation speed: 40rpm (no load, no torque limit)
7. Working range: BASE-360 degrees, SHOULDER-180 degrees, ELBOW-180 degrees, HAND-135 degrees/270 degrees
8. Drive mode: TTL bus servo servo (TTL BUS SERVO), joint direct drive
9. Number of drives: 5
10. Joint angle sensor: 12 bits 360-degree magnetic encoder
11. Driver stall torque: 30KG.CM @12V
12. Joint feedback information: driver status, joint angle, rotation speed, joint load, driver voltage, driver current, driver temperature, driver working mode
13. Onboard master control: ESP32-WROOM-32
14. Onboard master control module features: WiFi, BT, Dual Core, 240MHz
15. Wireless control method: 2.4G-WiFi, ESP-NOW
16. Wired control method: USB, UART
17. Manual operation method: WEB control interface
18. Machine operation method: Use UART/USB/ESP-NOW"/HTTP communication JSON data format instructions (currently, the ESP-NOW JSON instruction interaction in the routine has no feedback information, and cannot be used to execute instructions that will cause long-term blocking, such as: motion control with interpolation or playing long-term task files)
19. Connectable host computer: Raspberry Pi, Jetson Orin Nano, PC and other devices that support USB connection. End effector function: default is the chuck function, which can be changed to an extra degree of freedom.
20. LED fill light power: less than 1.5W
21. OLED screen size: 0.91inch
22. Other onboard functions: two 12V switches, 9-DOF IMU
23. Robot arm weight: about 841g (excluding the table clamp)
24. Table clamp weight: about 296g
25. Table thickness supported by the table clamp: less than 72mm
26. Robot arm routine function: three-dimensional rectangular coordinate system control (inverse kinematics control), dynamic external force adaptation control, joint angle control, work information feedback, FLASH file system operation, step recording and playback, ESP-NOW control, imitation mode (drag teaching), LED light control, onboard 12V switch control, WFi related function settings, setting the power-on task, bus servo related function settings, feedback mode settings, end assembly method settings, etc. Note: This is just a general introduction. For the specific functions and related instructions of the open source routines, please refer to WKI.
Packing list:
-Robot arm x 1
-Charger x 1
-Guide extension base x 1
-Camera bracket x 1
-End extension bracket x 1
-Lightweight base x 1
-Accessory bag x 1
