The UFactory Uarm
Table of Contents
The UFactory Uarm is an acrylic desktop 4-axis robot arm which was funded on Kickstarter. There is some information as well as tools on the manufacturer side (http://ufactory.cc/), however here I'd like to gather some of the less obvious pieces of information that I found while playing with this device.
uArm_Metal_Detail_Info&Specifications_en.pdf
uArm-Metal-Developer-Guide.pdf
These are both manuals for the metal version of the original UArm sold via Kickstarter. The second one (the developer guide) comes from the ufactory.cc site directly, but I decided to mirror it just in case.
The UArm Metal is different than the one I have but it's mechanically very similar and basically has an upgraded controller board which is more integrated and not just an Arduino + shield sandwitch. You can find information about the servo parameters which is useful if you need to find replacements. I had to because one of my servos got damaged and I couldn't find the exact servo that they used.
1. Servos
The servos used (marked UFactory US D150A) are identical to popular TowerPro MG945 servos (TowerPro may be an OEM for those) and can be successfuly replaced with them. See photo below:
The hub has an identical size and amount of teeth so even the original acrylic arm fits perfectly:
2. Documents
2.1. From the original Support site
2.2. Other places
Those files that I could find I archived for your convenience so that they won't suffer the same fate like the source code from ufactory.cc which is already MIA.