View Full Version : [Project] uArmⅠ:An open source robot arm Project

12-04-2013, 06:53 AM
uArmⅠ is a small Palletizing Robot refer to ABB PalletPack IRB 460. You can also use it as a robot arm and make a development of it to make more interesting applications.


In order to make it more flexible and easy driving, I have also made two kinds of Chassis of the robot arm.
One is a simple 2WD car as you can see in the following picture.

The other one is a 4WD car. I have added 4 Shock Absorbers on it as you can see in the following picture.

So you can install the robot arm on the Chassis and use this platform to do further applications on the ground.
Next, a special gripper for this robot arm is in designing and will be updated soon.

12-04-2013, 09:47 PM
That looks very cool. Well cut parts, too!

The repeatability doesn't look that great when those wheels slide around like that, though :-)

12-05-2013, 12:37 AM
That looks very cool. Well cut parts, too!

The repeatability doesn't look that great when those wheels slide around like that, though :-)

Yes, it is just a test video for that and we are making the improvement now. We will update another video soon.

12-05-2013, 05:27 AM
We have made the second version of uArmⅠ. In this version, you can change the head of the arm, so the fourth servo on the head of the arm can face down and forward by different install ways. A special robot gripper is in designing.


12-05-2013, 07:19 AM
Here is the design which I refer to, the World's Fastest Palletising Robot - ABB IRB 460.


12-06-2013, 12:25 AM
The acrylic parts of new version of uArmⅠ v1.1 is arriving now.


12-06-2013, 01:39 PM
From now on, there are two kinds of choices for the head of the robot arm.
One is a sucker and the other is a servo for installing robot gripper on it. You can see two of them in the following picture.

On the other hand, there are also two ways to install the head to the robot arm. One is to face down and the other is to face forward. The following picture shows the parts for different install ways.

Install the sucker to the head of the robot arm.


Install the servo motor to the head of the robot arm.


The second way for installing.


12-07-2013, 02:52 PM
Your pictures are well taken. I'd love to see some equally carefully collected numbers!
What is the precision of the head when the arm is fully extended?
What is the payload weight for a fully extended arm?
How much flex and backlash is there in each of the stages?

12-18-2013, 09:01 PM
Your pictures are well taken. I'd love to see some equally carefully collected numbers!
What is the precision of the head when the arm is fully extended?
What is the payload weight for a fully extended arm?
How much flex and backlash is there in each of the stages?

More details and test will be updated soon.

12-18-2013, 09:07 PM
The second test of uArmⅠ, in this version we add 4 suckers on the chassis of the arm to mount it on smooth surface.


12-21-2013, 12:53 PM
After a few days of improvement work, we have made some new designs of the robot arm. Make some changes of the structure to make the arm stable. Add a small gripper and the new sucker holder. Then we decide to try some other materials to make the robot arm. So we got a laser cut Basswood one.

Here is the laser cut Basswood parts.
http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_9995-300x199.jpg http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_9999-300x199.jpg

Do the assembling.

The finish Basswood uArm.

More details of this arm.
http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0025-300x199.jpg http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0027-300x199.jpg

Here the small gripper and the new sucker holder.

Change the head of the arm and install the gripper on the arm.
http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0034-300x199.jpg http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0035-300x199.jpg

http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0038-300x199.jpg http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0039-300x199.jpg


What’s more, we also made a transparent one by acrylic this time.

Here is the way that you can install the sucker with the new holder on the robot arm.
http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0060-300x199.jpg http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0061-300x199.jpg

So far, we have 3 uArmⅠ, the black acrylic one, the basswood one and the transparent acrylic one.

More testing videos and improvements will be updated soon. We are going to make this arm better, more stable and more accurate.

12-22-2013, 02:50 AM
Cool! I really dig the picture with all of them next to one another. You got yourself your own pick and place production line. :wink:

Next, you can have them assemble their own brothers! Would that be possible?

12-26-2013, 08:52 AM
The second version of the robot arm is quite stable now. Here is a stacking test by using the gripper. More applications and test videos will be updated soon.

See the video here:


12-26-2013, 08:53 AM
A Vacuum Gripper Suction Cup is often used on industry robot arm in manufacture. And we also add a small one on uArm.

The Vacuum Gripper Suction Cup is controlled by a small Vacuum Pump and a Solenoid Valve.

We made the first load test of the robot arm by using the Vacuum Gripper Suction Cup. It can lift a 330ml Coca Cola and move it to another place. More applications and test videos with the Vacuum Gripper Suction Cup will be updated soon.

See the video here:


12-27-2013, 07:04 AM
After several tests of the arm with vacuum gripper suction cup, the robot arm can work very well.

Recently, we got an Iphone 5S, so we decide to make an unboxing test of Iphnoe 5S by uArm.
http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0154-300x168.jpg http://blog.ufactory.cc/wp-content/uploads/2013/12/IMG_0153-300x168.jpg

Let’s see how it works.


More interesting applications and test video of uArm will be updated soon.

12-30-2013, 08:47 AM
Don't know if you guys saw it, but that iPhone unboxing video made the Make Magazine blog: http://makezine.com/blog/

- (http://makezine.com/blog/) Jon

01-02-2014, 06:38 AM
Yes, Jon.

I have seen that. Thank you so much.

01-02-2014, 06:41 AM

http://www.youtube.com/watch?v=-BfKwpFKA9o (http://www.youtube.com/watch?v=-BfKwpFKA9o)

01-07-2014, 06:41 AM
We have got some new servos for uArm.


01-09-2014, 05:15 PM
This is a great project! Very well done. I played around with some suckers for some R&D we did a loooong time ago. One thing I never figured out was how to let go of objects. I couldn't find any good low cost valves that would exhaust the suction and just attaching the pump direct created constant suction that never let go. How did you solve it?