UArm Assembly Instructions v1.2.3

uArm Assembly Instructions

Ver.1.2.3

www.ufactory.cc

uArm Replaceable Kit Part List Mechanical Parts Item number

Item name

Item description

Qty

1

Acrylic Parts

Acrylic Board

4

Item description

Qty

Screw M4-8 Screw M4-16 Screw M4-12 Screw M4-22 Screw M4-14 Screw M4-25 Screw M2-10 Tapping Screw M2-10 Tapping Screw M2-12 Nut M2 Nut M4 Lock Nut M4 Metal Spacer 4x10x1 Shaft Sleeve M4-7 Brass Stand-offs M4-10 Brass Stand-offs M4-15 Brass Stand-offs M4-22 Brass Stand-offs M4-55 Brass Stand-offs M4-65 Aluminum Alloy Rod 8-45 Thin-walled Bearing 61807 Flange Bearing MF84ZZ Flange Shaft Sleeve Suction Cup 45-M5 Rivet M5-10 Screw M4-28 Screw M2-10 Screw M3-8 Screw M3-25 Screw M4-16 Nut M2 Nut M3 Lock Nut M4 Brass Stand-offs M3-8 Metal Spacer 4-10-1 Shaft Sleeve 2.5-3-4 Plastic Spacer 3-7-10 Plastic Spacer 4-7-5 Brass Stand-offs M3-30 Brass Stand-offs M3-5#6 Screw M3-5 Screw M3-16 Nut M3 Shaft Sleeve 3-4-10 Spring Suction Cup DP-10 Suction Cup DP-20 Suction Cup Holder Nut M5 Dust Filter Plastic Rivet 3080 Brass Stand-offs M3-30 Screw M3-8

16 11 12 1 4 8 2 8 4 2 24 4 5 1 4 1 4 2 1 1 1 12 12 4 4 3 2 4 1 2 2 2 2 2 2 1 1 2 4 4 8 4 4 4 4 1 1 1 1 3 4 4 8

Components Item number

Item name

1

For Basic uArm 1

2

For Basic uArm 2

3

For Basic uArm 3

4

For Basic uArm 4

5

For Basic uArm 5

6

For Basic uArm 6

7

For Basic uArm 7

8

For Basic uArm 8

9

For Basic uArm 9

10

For Basic uArm 10

11

For Gripper

12

For Suction Cup End-effector 1

13


14


15

For Controller Board

Electronic Parts Item number

Item name

Item description

Qty

1 2

Pump Valve

3

Silicone Tubing

4

Servo

5

USB Cable

6

Power Supply

7 8

Uduino uArm Shield

9

Pump Kit Board

1 1 1 1 3 2 1 1 1 1 1 1

10

Limit Switch

Pump Valve Silicone Tubing (650mm) Silicone Tubing (80mm) U-Servo US-D150A U-Servo US-D009A USB Cable (1.8m) Power Supply Power Supply Cable Arduino Uno uArm Shield Pump and Valve Driver 4Pin Cable (150mm) Limit Switch 2Pin Cable (550mm)

1 1

Tools Item number

Item name

Item description

Qty

1 2

Screw Driver Cone Wrench

Screw Driver Cone Wrench

1 1

Download uArm Assembly Instructions and Software here: http://ufactory.cc/downloads.html

Acrylic Parts A

B

3 1

9

1

2

5

5

4

6 2 9

7

7 3

4

8

10

8

13

11

12

6

C

D

10

1 15

2

3

1

3

9

8

4

2

12

4 9

11

8 5

5

13

6

16

6 7

7

14

uArm assembly 1. Servo motor plate B8

Tapping Screw 4-M2*10

A2

D12

Screw 3-M4*25 D13

Bearing 61807 B6 Nut 3-M4

2. Rivet 4-M5*10

A1

Suction Cup 4-45-M5

3.

Screw 4-M4*12

Servo motor B12

Nut 4-M4

4. Screw 3-M4*28

Metal Spacer 3-4*10*1

B13

D14

B9 B7

Don't tighten the three nuts, or the next installation is difficult

Nut 3-M4

5.

Screw M3*6 (Servo motor parts)

0°

After this installation is complete, using a wrench and tighten the three nuts.

Make sure the range of activity at 0°~180°

90°

180°

The servos are in their proper position - at the center of their travel.

6.

7.

You need to tighten the two screws.

Nut M5 D9

Suction Cup Holder

Filter net

Suction Cup

8.

9.

Nut M2

Servo motor-9g

A9

Servo motor plate-9g

Tapping Screw 2-M2*4.5 (Servo motor parts)

0°


Screw M2*10

10. Screw 4-M3*16 Limit Switch

Tapping Screw 2-M2*6 (Servo motor parts)

11. Shaft Sleeve 4-3*4*10 Spring

Nut 4-M3

180°

90°

12.

Screw 4-M3*5

D1

Brass Stand-offs 4-M3*5+6

13. Brass Stand-offs 4-M3*30

Screw 4-M3*8

14.

uArm Shield Uduino

Plastic Rivet 3080

15.

D2 Screw 4-M3*8

16. Brass Stand-offs 4-M3*30

D3

17.

D5

D6

18.

Connect the silicone tubing and the pump. Pump

D8

Silicone Tubing (80mm)

19.

Valve Connect the silicone tubing and valve.

D7

20. Pump kit board

Connected to the pump & valve. Valve Pump

Valve Pump

21. Screw 4-M3*5 D4

22.

Nut 4-M4

A4

Screw 4-M4*12

23.

Servo motor

Servo motor

Nut 4-M4

Screw 4-M4*12

A3

24.

Screw 2-M4*8 Screw 2-M4*14

Brass Stand-offs M4*65

Nut M4

C8

Brass Stand-offs 2-M4*55

25.

Servo motor plate C4

D15


26.

Servo motor plate B10


Screw M4*16

27.

Flange Bearing MF84ZZ C2


Flange Shaft Sleeve

B3

28.

Flange Shaft Sleeve


Flange Bearing MF84ZZ


Screw M4*16

Screw 6-M4*8

C3

Lock Nut M4

29.


Flange Shaft Sleeve


Screw M4*25 C1

C7

Screw 2-M4*8

30. Flange Shaft Sleeve

Screw M4*16 B11 Flange Bearing MF84ZZ


31.

Flange Shaft Sleeve


Screw M4*22 B5

Screw 2-M4*8

32.

Flange Shaft Sleeve Flange Bearing MF84ZZ

B4 Screw M4*8

33.

Screw M4*16

Flange Shaft Sleeve

Lock Nut 2-M4


Screw 2-M4*16

C5

C6 Shaft Sleeve 4*7

Screw M4*25

34. The servos are in their proper position - at the center of their travel.

Screw M4*16 Screw M3*6 (servo motor parts)


0°

180

°


90°

Lock Nut 2-M4

Flange Shaft Sleeve

35.

Screw M3*6 (servo motor parts)


0°

18 0°

90 °


36.

Nut M4

Screw M4*14

C9

37.

Aluminum Alloy Rod 8*41

Screw 3-M4*8 Screw M4*14

38.

Nut M4

39.

Screw M4*16

40.

Silicone Tubing (650mm)

Connect the suction cup holder and valve with silicone tubing.

Gripper assembly

1. Screw 2-M2*10

A7

Servo motor-9g

Nut 2-M2

2.


Lock Nut 2-M4

Plastic Spacer 4*7*5 A6

Screw 2-M4*16 A5

3.

Tapping Screw 2-M2*4.5 (Servo motor parts) Servo motor plate-9g


18

0° Make sure the range of activity at 0°~180°

90

°

0°

4.

Tapping Screw 2-M2*8 (Servo motor parts) Shaft Sleeve 2.5*3*4

D11

5.

Screw M3*25

Plastic Spacer 3*7*10

Nut 2-M3

6.


Screw 2-M3*8

7.

Servo motor plate-9g

Tapping Screw 2-M2*6 (Servo motor parts)

D10

8.

9.

Screw 2-M3*8

A8

Change the end-effector 1.

Tapping Screw 2-M2*4.5 (Servo motor parts)

2.

3.

Flange Shaft Sleeve Flange Bearing MF84ZZ

Screw M4*16

Screw M4*8


4.

Screw M4*16

Flange Shaft Sleeve Lock Nut M4

Screw M4*25 Flange Bearing MF84ZZ

Screw M4*16

Flange Shaft Sleeve Shaft Sleeve 4*7 Screw M4*8


B1

B1 Flange Shaft Sleeve Screw M4*8

Flange Bearing MF84ZZ Screw M4*16

5.

Wiring diagram Port (Pump&valve)

uArm Shield D4 Bluetooth

D7

Port (Limit switch)

Limit switch

Pump& valve IN

D13 D12 D11 D10 D9 D8

OUT VCC GND

Orange white Red wire wire wire

Black wire

Port (D13) Port (D11)

Port (D9)

Port (D12)

Port (D10)

UArm Assembly Instructions v1.2.3

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