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Freigegebene technische Dokumentation veröffentlicht; Text-only und noindex

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'''Documentation notice:''' This technical documentation was independently rewritten from an archived supplier source. Check technical details and commands against the product version and manufacturer documentation before use.

== Summary ==
The RoArm-M1 is a compact desktop robotic arm based on ESP32, featuring five degrees of freedom and controlled exclusively via a serial interface (UART). All joints use high-torque ST3215 servos; the upper axis includes a 1:3 gear reduction to increase torque and limit load. The device offers Wi-Fi, an OLED display, RGB LEDs, and open-source libraries for servo control, inverse kinematics, a web application, and ROS 2 demos.

== Related products at JW Tech ==
* [https://shop.jw-tech.eu/p/WSAL23244 WSAL23244 – High-torque Serial Bus Servo, Desktop Robotic Arm Kit, Based On ESP32, 5-DOF, Supports Wireless Control]
* [https://shop.jw-tech.eu/p/WSAL23937 WSAL23937 – High-torque Serial Bus Servo, Desktop Robotic Arm Kit, Based On ESP32, 5-DOF, Supports Wireless Control]
* [https://shop.jw-tech.eu/p/WSAL23938 WSAL23938 – High-torque Serial Bus Servo, Desktop Robotic Arm Kit, Based On ESP32, 5-DOF, Supports Wireless Control]

== Technical overview ==
* Five degrees of freedom including gripper clamping; all drives are ST3215 serial bus servos with 30 kg·cm torque.
* Upper axis uses a 1:3 reduction gear set with timing pulleys, increasing effective torque and reducing structural damage from excessive loads.
* Each servo can feed back current voltage, position, current, temperature, and load.
* Controlled via USB serial port using JSON data; compatible with PCs, Raspberry Pi, Jetson Nano, and other host devices.
* Onboard features include Wi-Fi, OLED display, RGB LEDs, and open-source code for servo control library, serial communication, web app, inverse kinematics, and ROS 2 demos.
* Demos cover angle control, coordinate control via inverse kinematics, motion recording/replay, and lead-follow mode based on ESP-NOW.
* The web app works cross-platform through any browser on phones, tablets, and computers.
* A camera can be mounted on the gripper; additional resources include a URDF model, STEP file, ROS 2 package, and a VirtualBox image.

'''Commands and examples – verify before use:'''
<syntaxhighlight lang="text">
sudo apt install ubuntu-desktop
sudo reboot
</syntaxhighlight>

== Notes and version constraints ==
* High servo torques pose injury risks; keep eyes and children away from the range of motion.
* After disassembly, the arm must be reassembled and calibrated according to the assembly tutorial.
* Green nitrile rubber O-rings may shed small debris during initial operation – this is normal and stops after run-in.
* The default demo runs at a deliberately slow speed; too low speeds can cause vibration at certain positions.
* Setting up the ROS 2 environment requires downloading the provided VirtualBox image (password: roarm); manual installation often hits dependency issues.
* RViz2 display errors in VMware can be fixed by disabling 3D graphics acceleration.
* The Logitech mouse wheel will not work inside the virtual machine until smooth scrolling is turned off in the mouse software.

== Source and revision record ==
* [https://www.waveshare.com/wiki/RoArm-M1 RoArm-M1 - Waveshare Wiki]
* Source revision: 74886
* Captured: 2026-09-04T02:46:17+00:00
* SHA-256: <code>fcae15380196e464ec4d906bb05f569ec9724cddb2f49d14ce5634b8251b5707</code>

WSAL23244 – RoArm-M1/en - Versionsgeschichte

JWTechPublisher: Freigegebene technische Dokumentation veröffentlicht; Text-only und noindex