# Waveshare RoArm-M1

> ESP32-based 5-DOF desktop robotic arm with high-torque serial bus servos, WiFi/Bluetooth control, motion recording, inverse kinematics, and ROS 2 support. Carbon fiber and aluminum construction.

## Quick Facts

- **Brand:** Waveshare
- **Board Type:** robotic-arm
- **Price:** ~$299.99
- **Product Readiness:** developer
- **CPU:** ESP32-WROOM-32
- **CPU Architecture:** Xtensa LX6
- **CPU Cores:** 2
- **RAM:** 520KB SRAM
- **Flash:** 4MB
- **USB:** Type-C
- **Power:** 12V 5A DC
- **Operating Voltage:** 3.3V
- **Antenna:** Built-in PCB antenna

## Connectivity

- **Wifi:** 2.4GHz
- **Bluetooth:** BLE 4.2

## Open Source

- **Firmware:** Yes
- **Schematics:** No
- **PCB Layout:** No

## Compatible Firmware

arduino, ros2, micropython, esp-idf

## Use Cases

- robotics
- robotic-arm
- automation
- education
- pick-and-place
- 3d-printing-companion

## Components

- **ESP32-WROOM-32** (MCU): Espressif ESP32 dual-core Xtensa LX6 microcontroller with integrated WiFi and Bluetooth — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.espressif.com%2Fsites%2Fdefault%2Ffiles%2Fdocumentation%2Fesp32-wroom-32_datasheet_en.pdf&ref=openhardware.directory&product=waveshare-roarm-m1&source=md-export)
- **ST3215 Serial Bus Servo (x5)** (Servo): Feetech ST3215 TTL serial bus servo with 30kg.cm torque, 12-bit magnetic encoder feedback, and 360-degree rotation capability — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.feetechrc.com%2Fst3215.html&ref=openhardware.directory&product=waveshare-roarm-m1&source=md-export)
- **OLED Screen** (Display): Onboard OLED screen for real-time arm status and parameter display — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FRoArm-M1&ref=openhardware.directory&product=waveshare-roarm-m1&source=md-export)
- **RGB LED** (LED): Addressable RGB LED for visual state feedback and notifications — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FRoArm-M1&ref=openhardware.directory&product=waveshare-roarm-m1&source=md-export)

## Protocols

- **UART**
- **I2C**
- **HTTP/JSON**
- **ESP-NOW**

## Description

## Overview

The Waveshare RoArm-M1 is a compact 5-DOF desktop robotic arm built around the ESP32-WROOM-32 microcontroller. It uses high-torque ST3215 serial bus servos (30kg.cm) and features a carbon fiber and aluminum body with a stainless steel gripper.

## Key Features

- **5 Degrees of Freedom** including gripper clamping
- **Multiple Control Modes**: Angle control, inverse kinematics coordinate control, motion recording/replay, and lead-follow mode via ESP-NOW
- **Wireless Control**: Built-in WiFi and Bluetooth 4.2 for remote operation via web application or JSON/HTTP commands
- **Cross-Platform Web App**: No software installation required — control directly from any browser
- **ROS 2 Support**: Includes URDF model files and ROS 2 demo packages
- **Onboard OLED Display**: Real-time status monitoring
- **RGB LED Indicators**: Visual feedback for arm state
- **1:3 Reduction Group**: Timing pulley system on main arm for enhanced torque

## Connectivity

- WiFi 2.4GHz (AP and STA modes)
- Bluetooth 4.2
- ESP-NOW protocol for lead-follow control
- USB Type-C (UART serial communication)
- I2C expansion interface

## Development

The RoArm-M1 supports Arduino IDE programming and is compatible with ROS 2 for advanced robotics applications. It can be connected to Raspberry Pi, Jetson Nano, or PC via USB for host-based control. JSON-formatted commands can be sent over HTTP or serial for integration into custom automation workflows.

## What's in the Box

- RoArm-M1 robotic arm (fully assembled)
- 12V 5A power supply

## Where to Buy

- [Waveshare Official](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Froarm-m1.htm&ref=openhardware.directory&product=waveshare-roarm-m1&source=md-export) — $299.99
- [OpenELab](https://openhardware.directory/r?to=https%3A%2F%2Fopenelab.io%2Fproducts%2Fwaveshare-roarm-m1-desktop-robotic-arm&ref=openhardware.directory&product=waveshare-roarm-m1&source=md-export) — $379.00

## Resources

- [product](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Froarm-m1.htm&ref=openhardware.directory&product=waveshare-roarm-m1&source=md-export)
- [wiki](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FRoArm-M1&ref=openhardware.directory&product=waveshare-roarm-m1&source=md-export)

## Tags

`robotic-arm`, `esp32`, `ros2`, `arduino`, `wifi`, `desktop-robot`, `servo`, `waveshare`

## Images

![Waveshare RoArm-M1](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m1/6ae61e704182.jpg)
![Waveshare RoArm-M1](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m1/82184c26de39.jpg)
![Waveshare RoArm-M1](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m1/c4e4e171285e.jpg)
![Waveshare RoArm-M1](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m1/a0f6a0eea3af.jpg)
![Waveshare RoArm-M1](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m1/cec62eeac372.jpg)
![Waveshare RoArm-M1](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m1/52c8c13170ae.jpg)
![Waveshare RoArm-M1](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m1/544e44e65b47.jpg)
![Waveshare RoArm-M1](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m1/e2b85dd75737.jpg)

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