OpenARM

Overview

The OpenARM is an open source bimanual manipulator designed for research and development. The arms are built with simple CNC parts and sheet metal which are relatively sturdy and accessible forms of manufacturing. Unlike the OpenYAM and other desktop manipulators, the humanoid form factor creates operator affinity, letting teleoperators control the robot with little to no learning curve. The low cost and easily accessible manufacturing methods are meant to make the OpenARM robot accessible. It should be easy to make, modify, and repair, making it an ideal platform for research and development.

The OpenARM also has 7 DoF per arm, meaning more flexible motion without major kinematic constraints. The first version of the OpenARM was designed and open sourced by the Reazon Human Interaction Lab in Tokyo. You can learn more about the origins of the project and their lab on the hilab website.

Media

Packing List

Detailed packing lists depend on the specific product or developer kit from our store. Please see the links below for detailed itemized lists:

• OpenARM Leader-Follower Kit

• OpenARM Quest Teleop Kit

• Individual OpenARM Robot

Related Guides

• Controlling a Robot

• Collecting data

• Training a model

Technical Specs

The below table describes the OpenARM with and without the gripper. Payload and weights describe each individual arm.

Specification	Without Gripper	With Gripper
Degrees of Freedom	7 DoF	7 DoF + Gripper
Arm Reach	480mm	650mm
Weight per Arm	5.5kg	6.1kg
Nominal Payload per Arm	4.1kg	3.5kg
Peak Payload per Arm	6kg	5.4kg
Motor Control Modes	MIT / POS	MIT / POS

The below table shows software and hardware support for the OpenARM and covers both community efforts, as well as first party solutions from Anvil Robotics.

Software	Anvil Robotics	Community
Control Frequency	500Hz over standard CAN 1kHz over CAN-FD	Unknown
7 DoF IK / FK	Anvil only	Unknown
Control SDKs	ROS2 controls, Python, and C++	ROS2 controls
Warranty	1 year full warranty1	None

1. Anvil Robotics offers a full 1 year warranty and replacements on any Anvil produced OpenARM products when used with Anvil's software systems. Anvil's software contains safety features that monitor motor health and prevent over temperature, over current, and other potentially fatal user controls. These can be easily disabled in software but could void your warranty.

Resources

Project	Link
URDF Files	Github
CAD Files	Github
Community Controller	Github
7 DoF IK / FK	Access with Anvil Devbox
Control SDK	Access with Anvil Devbox
Teleoperation	Access with Anvil Devbox