Robot Arm Kit for Romi

This Robot Arm Kit is an accessory for the Romi Chassis that allows it to manipulate small objects around it. The kit includes a micro gripper with paddles that can slide up to 32 mm apart, arm linkages for supporting the gripper, and a platform to mount everything to. The assembly is actuated by three included servos that are specially modified to provide access to their feedback potentiometers through a fourth (green) wire, which lets you detect if something is interfering with their ability to get to their commanded positions. This feedback also enables more complex closed-loop control of the arm from your main controller.

Kit contents:

• 1x Micro Gripper with Position Feedback Servo
• 1x Romi expansion platform
• 1x main arm
• 1x rear tilt arm
• 1x front tilt arm
• 1x pivot stand
• 2x servo mounting brackets
• 1x short linkage
• 2x pivot transfer linkages
• 1x tilt servo horn
• 1x lift servo horn
• 1x alternate tilt servo horn attachment
• 1x alternate life servo horn attachment
• 2x standard-sized servos with position feedback
• 6x 20 mm nylon spacers, 4 mm OD, 2.7 mm ID
• 3x 6 mm nylon spacers, 4 mm OD, 2.7 mm ID
• 2x 1.5? aluminum standoffs, #2-56 thread, M-F
• 2x 1? aluminum standoffs, #2-56 thread, M-F
• 6x 1? #2-56 Machine screws
• 3x 3/8? #2-56 machine screws
• 4x 1/4? #2-56 machine screws
• 13x #2-56 hex nuts
• 9x #2 washers
• 6x 8 mm M3 machine screws
• 6x M3 hex nuts