# Waveshare RoArm-M3

> ESP32-based 5+1 DOF robotic arm with 1kg payload, 360-degree base, dual-drive shoulder, 7 servos, 9-axis IMU, TF card slot, and ROS 2 + LeRobot support. Carbon fiber and aluminum build.

## Quick Facts

- **Brand:** Waveshare
- **Board Type:** robotic-arm
- **Price:** ~$239.99
- **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:** IPEX Gen 1
- **SD Card:** TF Card

## Connectivity

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

## Open Source

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

## Compatible Firmware

arduino, ros2, esp-idf, micropython

## 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-m3&source=md-export)
- **ST3215 Serial Bus Servo (x7)** (Servo): Feetech ST3215 and ST3215-HS TTL serial bus servos with 30kg.cm torque at 12V, 40rpm no-load speed, and 12-bit magnetic encoder — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.feetechrc.com%2Fst3215.html&ref=openhardware.directory&product=waveshare-roarm-m3&source=md-export)
- **QMI8658C** (IMU): QST QMI8658C 6-axis inertial measurement unit with 3-axis accelerometer and 3-axis gyroscope — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.qstcorp.com%2Fupload%2Fpdf%2F202301%2F13-52-25%2520QMI8658C%2520Datasheet%2520Rev%2520A.pdf&ref=openhardware.directory&product=waveshare-roarm-m3&source=md-export)
- **AK09918C** (Sensor): AKM AK09918C 3-axis electronic compass for orientation sensing — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.akm.com%2Fcontent%2Fdam%2Fdocuments%2Fproducts%2Felectronic-compass%2Fak09918c%2Fak09918c-en-datasheet.pdf&ref=openhardware.directory&product=waveshare-roarm-m3&source=md-export)
- **INA219** (Power Monitor): Texas Instruments INA219 high-side current and power monitor with I2C interface — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.ti.com%2Flit%2Fds%2Fsymlink%2Fina219.pdf&ref=openhardware.directory&product=waveshare-roarm-m3&source=md-export)
- **TB6612FNG** (Motor Driver): Toshiba TB6612FNG dual H-bridge motor driver for DC and stepper motor control — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.sparkfun.com%2Fdatasheets%2FRobotics%2FTB6612FNG.pdf&ref=openhardware.directory&product=waveshare-roarm-m3&source=md-export)
- **0.91-inch OLED** (Display): 0.91-inch OLED screen for real-time status and parameter display — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FRoArm-M3&ref=openhardware.directory&product=waveshare-roarm-m3&source=md-export)

## Protocols

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

## Description

## Overview

The Waveshare RoArm-M3 is an advanced 5+1 DOF desktop robotic arm featuring 7 high-torque serial bus servos, a 2-DOF wrist joint with pitch and horizontal rotation, and a 360-degree omnidirectional base. Built with carbon fiber and aluminum, it handles a 1kg payload with a workspace diameter of over 1.1 meters.

## Key Features

- **5+1 Degrees of Freedom**: 5 flexible joints plus gripper/end-of-arm tooling
- **2-DOF Wrist Joint**: Pitch and horizontal rotation for complex manipulation
- **1kg Payload Capacity** at full extension with ±5mm repositioning precision
- **360-Degree Base Rotation**: Omnidirectional workspace coverage
- **Dual-Drive Shoulder Technology**: Enhanced torque and stability
- **Dynamic External Force Adaptive (DEFA) Control**: Real-time force response
- **12-bit Magnetic Encoders**: 0.088-degree feedback precision
- **9-Axis IMU**: QMI8658C motion sensor + AK09918C compass
- **TF Card Slot**: On-board data logging
- **LIDAR Interface**: Type-C LADAR port for environment scanning
- **Table Clamp Mount**: Supports up to 72mm table edge thickness

## Specifications

| Parameter | Value |
|---|---|
| DOF | 5+1 |
| Servos | 7x ST3215/ST3215-HS (30kg.cm @ 12V) |
| Servo Speed | 40 RPM (no-load) |
| Workspace | 1120mm horizontal, 798mm vertical |
| Weight | 973.5g ± 15g (M3-S) / 1020.8g ± 15g (M3-Pro) |
| Power | 12V 5A DC |
| Battery | 3S Lithium compatible |
| Payload | 1kg |

## Joint Ranges

- **Base**: 360 degrees
- **Shoulder**: 180 degrees
- **Elbow**: 225 degrees
- **Hand (Gripper mode)**: 135 degrees
- **Hand (Wrist mode)**: 270 degrees

## Connectivity

- WiFi 2.4GHz (AP mode: "RoArm-M3" / STA mode)
- Bluetooth 4.2
- ESP-NOW for lead-follow multi-arm setups
- USB Type-C (UART @ 115200 baud)
- I2C expansion interface
- 40-pin GPIO header for Raspberry Pi / Jetson Nano
- IPEX Gen 1 antenna interface
- LIDAR Type-C port

## Development

Supports Arduino IDE, ESP-IDF, ROS 2 with URDF model files, and Hugging Face LeRobot framework for AI-driven manipulation tasks. Open-source control code with JSON command protocol over HTTP or serial. Python desktop software available for direct control.

## Variants

- **RoArm-M3-S**: Standard version ($239.99)
- **RoArm-M3-Pro**: Upgraded with all-metal servos ($339.99)

## Where to Buy

- [Waveshare Official](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Froarm-m3.htm&ref=openhardware.directory&product=waveshare-roarm-m3&source=md-export) — $239.99
- [OpenELab](https://openhardware.directory/r?to=https%3A%2F%2Fopenelab.io%2Fproducts%2Fwaveshare-roarm-m3-robot-arm&ref=openhardware.directory&product=waveshare-roarm-m3&source=md-export) — $309.00

## Resources

- [product](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Froarm-m3.htm&ref=openhardware.directory&product=waveshare-roarm-m3&source=md-export)
- [wiki](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fwiki%2FRoArm-M3&ref=openhardware.directory&product=waveshare-roarm-m3&source=md-export)

## Tags

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

## Images

![Waveshare RoArm-M3](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m3/03d133e63969.jpg)
![Waveshare RoArm-M3](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m3/d6ed3e39945b.jpg)
![Waveshare RoArm-M3](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m3/c6a45d57ecab.jpg)
![Waveshare RoArm-M3](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m3/86d435010e46.jpg)
![Waveshare RoArm-M3](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m3/718745870406.jpg)
![Waveshare RoArm-M3](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m3/bff5f941b92c.jpg)
![Waveshare RoArm-M3](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m3/04a1dfd49e55.jpg)
![Waveshare RoArm-M3](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-roarm-m3/d270c36a6dc4.jpg)

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