# Bras robot low-cost ### Modèles commerciaux fermés #### Niryo Ned 2 - 6DOF + Pince [https://niryo.com/fr/produit/bras-robotise-6-axes/](https://niryo.com/fr/produit/bras-robotise-6-axes/) [https://github.com/NiryoRobotics](https://github.com/NiryoRobotics) #### DAGU Six-servo Robot Arm [![image.png](https://innovation.iha.unistra.fr/uploads/images/gallery/2025-03/scaled-1680-/Kpkimage.png)](https://innovation.iha.unistra.fr/uploads/images/gallery/2025-03/Kpkimage.png) - 5DOF Manipulateur + 1DOF Pince - 6 servos - 3x 13 kg.cm torque metal gear, 40.4 \* 19.8 \* 36 mm, 48g, 0.22s/60° - 1x 3.2 kg.cm, 39.5 x20.0x35.5mm, 41g, 0.27s/60° - 2x 2.3 kg.cm, 28 x14x29.8mm, 18g, 0.13/60° - Carte de contrôle AREXX Intelligence Centre [https://seafile.unistra.fr/d/693101e6046d4819a3af/](https://seafile.unistra.fr/d/693101e6046d4819a3af/) [https://arexx.com/product/robot-arm/](https://arexx.com/product/robot-arm/) [www.arexx.com.cn](https://www.arexx.com.cn) ### Modèles Open Source [https://github.com/AntoBrandi/Robotics-and-ROS-2-Learn-by-Doing-Manipulators](https://github.com/AntoBrandi/Robotics-and-ROS-2-Learn-by-Doing-Manipulators) #### Trossen Robotics ALOHA ##### Stationary [https://docs.trossenrobotics.com/trossen\_arm/main/specifications.html](https://docs.trossenrobotics.com/trossen_arm/main/specifications.html) [https://docs.trossenrobotics.com/aloha\_docs/2.0/specifications.html#aloha-stationary](https://docs.trossenrobotics.com/aloha_docs/2.0/specifications.html#aloha-stationary) [https://docs.trossenrobotics.com/aloha\_docs/2.0/operation/stationary.html](https://docs.trossenrobotics.com/aloha_docs/2.0/operation/stationary.html) ##### Solo
Dimensions1019D x 1066H x 1225W mm
Leader ArmsWidowX 250 S - Aloha Version
Follower ArmsViperX 300 S - Aloha Version
Camera2x Intel RealSense D405
ChassisModular
ComputerComing Soon
USB HubsYes 1X
[https://docs.trossenrobotics.com/aloha\_docs/2.0/specifications.html#aloha-solo](https://docs.trossenrobotics.com/aloha_docs/2.0/specifications.html#aloha-solo) [https://docs.trossenrobotics.com/aloha\_docs/2.0/operation/solo.html](https://docs.trossenrobotics.com/aloha_docs/2.0/operation/solo.html) #### Trossen Robotics (Interbotix) X-Series Arms [https://docs.trossenrobotics.com/interbotix\_xsarms\_docs/specifications.html](https://docs.trossenrobotics.com/interbotix_xsarms_docs/specifications.html) [ALOHA WidowX-250 6DOF](https://docs.trossenrobotics.com/interbotix_xsarms_docs/specifications/awx250s.html) [ALOHA ViperX-300 6DOF](https://docs.trossenrobotics.com/interbotix_xsarms_docs/specifications/avx300s.html) #### Waveshare RoArm - 5DOF + pince Waveshare - [https://github.com/waveshareteam/roarm\_ws](https://github.com/waveshareteam/roarm_wshttps://www.waveshare.com/product/roarm-m3.htm?sku=30444) - [https://www.waveshare.com/product/roarm-m3.htm?sku=30444](https://github.com/waveshareteam/roarm_wshttps://www.waveshare.com/product/roarm-m3.htm?sku=30444) #### ROBOTIS Open Manipulator-P - 5DOF + pince - [Modbus-RTU](Modbus-RTUhttps://emanual.robotis.com/docs/en/platform/openmanipulator_p/overview/) - [https://emanual.robotis.com/docs/en/platform/openmanipulator\_p/overview/](Modbus-RTUhttps://emanual.robotis.com/docs/en/platform/openmanipulator_p/overview/) #### ROBOTIS Open Manipulator-X [https://emanual.robotis.com/docs/en/platform/openmanipulator\_x/specification/#specification](https://emanual.robotis.com/docs/en/platform/openmanipulator_x/specification/#specification) - 4 DOF Manipulateur + 1 DOF Pince - 6x Dynamixel XM430-W350 [https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/](https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/) - Carte de contrôle Robotis OpenCR1.0 [https://emanual.robotis.com/docs/en/parts/controller/opencr10/](https://emanual.robotis.com/docs/en/parts/controller/opencr10/) #### SO-ARM100 [https://github.com/TheRobotStudio/SO-ARM100](https://github.com/TheRobotStudio/SO-ARM100) - 5 DOF Manipulateur + 1 DOF Pince - 6 servos Feetech STS3215 [https://www.feetechrc.com/en/2020-05-13\_56655.html](https://www.feetechrc.com/en/2020-05-13_56655.html) - Waveshare Serial Bus Servo Driver Board [https://www.waveshare.com/wiki/Bus\_Servo\_Adapter\_(A)](https://www.waveshare.com/wiki/Bus_Servo_Adapter_(A)) - OU - Feetech FE-URT-1 [https://www.feetechrc.com/FE-URT1-C001.html](https://www.feetechrc.com/FE-URT1-C001.html) [https://github.com/huggingface/lerobot/blob/main/examples/10\_use\_so100.md](https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md) [https://medium.com/@sarohapranav/my-experiences-and-tips-for-creating-a-robotic-so100-arm-3df779a4aae7](https://medium.com/@sarohapranav/my-experiences-and-tips-for-creating-a-robotic-so100-arm-3df779a4aae7) [https://github.com/JafarAbdi/ros2\_so\_arm100](https://github.com/JafarAbdi/ros2_so_arm100) #### pince compatible SO-ARM - Waveshare [https://www.waveshare.com/gripper-a.htm?sku=30386](https://www.waveshare.com/gripper-a.htm?sku=30386) ### Cartes de contrôle #### OpenCR1.0 [https://emanual.robotis.com/docs/en/parts/controller/opencr10/](https://emanual.robotis.com/docs/en/parts/controller/opencr10/) - STM32F746ZGT6 / 32-bit ARM Cortex®-M7 with FPU (216MHz, 462DMIPS) [Reference Manual](http://www.st.com/resource/en/reference_manual/dm00124865.pdf), [Datasheet](http://www.st.com/resource/en/datasheet/stm32f745ie.pdf) - Programmer : ARM Cortex 10pin JTAG/SWD connector USB Device Firmware Upgrade (DFU) Serial - Digital I/O - 32 pins (L 14, R 18) \*Arduino connectivity - 5Pin OLLO x 4 - GPIO x 18 pins - PWM x 6 - I2C x 1 - SPI x 1 - Communication Ports - USB x 1 (Micro-B USB connector/USB 2.0/Host/Peripheral/OTG) - TTL x 3 (B3B-EH-A / DYNAMIXEL) - RS485 x 3 (B4B-EH-A / DYNAMIXEL) - UART x 2 (20010WS-04) - CAN x 1 (20010WS-04) #### Waveshare Serial Bus Servo Driver Board [https://www.waveshare.com/wiki/Bus\_Servo\_Adapter\_(A)](https://www.waveshare.com/wiki/Bus_Servo_Adapter_(A)) - Supports connecting to a host or MCU - up to 253 ST/SC series serial bus servos - RS485 - UART pour contrôle depuis Arduino, ESP32, STM32 (RX-RX, TX-TX) - USB pour contrôle via Raspberry, Jetson ou PC - 9~12.6V voltage input (the input voltage and the servo voltage must be matched) #### Feetech FE-URT-1 [https://www.feetechrc.com/FE-URT1-C001.html](https://www.feetechrc.com/FE-URT1-C001.html) #### AREXX Intelligence Centre [https://seafile.unistra.fr/d/693101e6046d4819a3af/](https://seafile.unistra.fr/d/693101e6046d4819a3af/) - atmega168 MCU - RS232 - default baud rate is 115.2k - Wifi wireless control reserve the ISP downloaded, you can download the MCU controller program using the STK500 ISP cable [![image.png](https://innovation.iha.unistra.fr/uploads/images/gallery/2025-03/scaled-1680-/5Xoimage.png)](https://innovation.iha.unistra.fr/uploads/images/gallery/2025-03/5Xoimage.png) [![image.png](https://innovation.iha.unistra.fr/uploads/images/gallery/2025-03/scaled-1680-/W3Cimage.png)](https://innovation.iha.unistra.fr/uploads/images/gallery/2025-03/W3Cimage.png) - dual - Power Supply - 6 ~ 12 V SCM power - 4.8 ~ 6 V, 1.2A servo motor power \[servo motor power supply Road 1-16 respectively, a 17-32 road supply port\]) ### Servomoteurs #### Dynamixel XM430-W350 [https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/](https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/) - 4.1 \[N.m\] (at 12.0 \[V\], 2.3 \[A\]) - 46 \[rev/min\] (at 12.0 \[V\]) - 10.0 ~ 14.8 \[V\] - Operating Modes - Current Control Mode - Velocity Control Mode - Position Control Mode (0 ~ 360 \[°\]) - Extended Position Control Mode (Multi-turn) - Current-based Position Control Mode - PWM Control Mode (Voltage Control Mode) - baud rate 9,600 \[bps\] ~ 4.5 \[Mbps\] - TTL Half Duplex Asynchronous Serial Communication with 8bit, 1stop, No Parity - RS485 Asynchronous Serial Communication with 8bit, 1stop, No Parity #### Feetech STS3215 [https://www.feetechrc.com/en/2020-05-13\_56655.html](https://www.feetechrc.com/en/2020-05-13_56655.html)