Empower your Romi robot to manipulate its surroundings with this robotic arm accessory kit! The kit contains everything you need to build the arm, including a micro gripper and three servos—one for controlling the height of the arm, one for controlling the tilt of the gripper, and one for actuating the gripper paddles themselves. All three servos are specially modified to provide access to their feedback potentiometers, enabling higher-level closed-loop control of all three joints.

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.

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Package Includes:

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