uArm

Assembly Instructions

Ver.1.1 www.ufactory.cc
 uArm Replaceable Kit Part List
Mechanical Parts
Item number Item name Item description Qty
1 Acrylic Parts Acrylic Board 4

Components
Item number Item name Item description Qty
Screw M4-8 16
1 For Basic uArm 1
Screw M4-16 11
Screw M4-12 12
2 For Basic uArm 2
Screw M4-22 1
Screw M4-14 4
3 For Basic uArm 3
Screw M4-25 8
Screw M2-10 2
4 For Basic uArm 4 Tapping Screw M2-10 8
Tapping Screw M2-12 4
Nut M2 2
5 For Basic uArm 5 Nut M4 24
Lock Nut M4 4
Metal Spacer 4x10x1 5
6 For Basic uArm 6
Shaft Sleeve M4-7 1
Brass Stand-offs M4-10 4
Brass Stand-offs M4-15 1
Brass Stand-offs M4-22 4
7 For Basic uArm 7
Brass Stand-offs M4-55 2
Brass Stand-offs M4-65 1
Aluminum Alloy Rod 8-45 1
Thin-walled Bearing 61807 1
8 For Basic uArm 8 Flange Bearing MF84ZZ 12
Flange Shaft Sleeve 12
Suction Cup 45-M5 4
9 For Basic uArm 9
Rivet M5-10 4
10 For Basic uArm 10 Screw M4-28 3
Screw M2-10 2
Screw M3-8 4
Screw M3-25 1
Screw M4-16 2
Nut M2 2
Nut M3 2
11 For Gripper
Lock Nut M4 2
Brass Stand-offs M3-8 2
Metal Spacer 4-10-1 2
Shaft Sleeve 2.5-3-4 1
Plastic Spacer 3-7-10 1
Plastic Spacer 4-7-5 2
Brass Stand-offs M3-30 4
Brass Stand-offs M3-5#6 4
Screw M3-5 8
12 For Suction Cup End-effector 1 Screw M3-16 4
Nut M3 4
Shaft Sleeve 3-4-10 4
Spring 4
Suction Cup DP-10 1
Suction Cup DP-20 1
13 For Suction Cup End-effector 2
Suction Cup Holder 1
Nut M5 1
14 For Suction Cup End-effector 3 Dust Filter 3
Plastic Rivet 3080 4
15 For Controller Board Brass Stand-offs M3-30 4
Screw M3-8 8
 Electronic Parts
Item number Item name Item description Qty
1 Pump Pump 1
2 Valve Valve 1
Silicone Tubing (650mm) 1
3 Silicone Tubing
Silicone Tubing (80mm) 1
U-Servo US-D150A 3
4 Servo
U-Servo US-D009A 2
5 USB Cable USB Cable (1.8m) 1
Power Supply 1
6 Power Supply
Power Supply Cable 1
7 Uduino Arduino Uno 1
8 uArm Shield uArm Shield 1
Pump and Valve Driver 1
9 Pump Kit Board
4Pin Cable (150mm)
Limit Switch 1
10 Limit Switch
2Pin Cable (550mm) 1

Tools
Item number Item name Item description Qty
1 Screw Driver Screw Driver 1
2 Cone Wrench Cone Wrench 1

Download uArm Assembly Instructions and Software here:

http://ufactory.cc/downloads.html

Acrylic Parts
A B
3 5
4
1

9 1 5 2
6 10
8
2

7 9
7

3 4 11
13 12
8

C D 10
1
1 3
15 9
2

3 8
4
2
12
4
9 8 11
13
5 6
5
6 16

7 7 14
 uArm assembly
1.
Servo motor
plate
B8

Tapping Screw
4-M2*10

D12 Screw
A2
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

Nut
3-M4 next installation is difficult

5.

Screw M3*6
(Servo motor
parts) After this installation is complete,
using a wrench and tighten the three nuts.

0
Range of activity
0~180

The servos are in their proper

90 position - at the center of their travel.

The servo motor factory set up

at 90 degrees.

180
6. You need to tighten the two screws. 7. Nut M5

D9
Suction Cup
Holder
Filter net

Suction Cup

8. Nut M2
9.

Servo
motor-9g

Tapping Screw
2-M2*4.5
A9
Servo motor (Servo motor
plate-9g parts)

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
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
D7
and valve.

20.
Connected to the pump & valve. Pump kit
board
Valve
Pump

Valve
Pump

21.
Screw
4-M3*5

D4
22. Nut
4-M4

A4

Servo
Screw motor
4-M4*12

23. Nut
Servo
motor
4-M4

Screw
A3 4-M4*12

24. Screw
2-M4*8

Screw
2-M4*14

Brass
Nut M4 Stand-offs
M4*65

C8
Brass
Stand-offs
2-M4*55
25. Servo motor
plate

C4
D15

Tapping Screw
4-M2*12

26. Servo motor

plate

B10

Tapping Screw
4-M2*10
 Screw

27. M4*16
Flange
Bearing
MF84ZZ

C2

Brass
B3 Flange Stand-offs
Shaft M4*10
Sleeve

28. Flange
Shaft
Brass
Stand-offs
Sleeve 3-M4*10
Flange
Bearing
MF84ZZ Brass
Stand-offs
4-M4*22

Screw
M4*16

Screw
C3
6-M4*8

Flange
Lock Nut

29. M4
Bearing
MF84ZZ Metal
Spacer
3-4*10*1
Flange
Shaft
Sleeve
Screw
M4*25

C1

C7 Screw
2-M4*8

30.
Flange
Shaft
Sleeve

Screw
M4*16
B11
Brass
Flange
Stand-offs
Bearing
M4*15
MF84ZZ
31. Flange
Shaft
Sleeve Flange
Bearing
MF84ZZ

Screw
M4*22

B5

Screw
2-M4*8

32.

B4

33. Flange
Shaft
Lock Nut
Sleeve
2-M4 Flange
Bearing
MF84ZZ

Screw
2-M4*16

C5
C6

Shaft Screw
Sleeve M4*25
4*7
34.
Flange
Bearing
MF84ZZ
Lock Nut
2-M4
Screw
The servos are in their proper
M4*16 position - at the center of their travel.
Screw M3*6
Flange
(servo motor
Shaft
parts)
Sleeve

The servo motor

Range of activity factory set up

90
0~180 at 90 degrees.

180

0
35. Screw M3*6
(servo motor
parts)

The servos are in their proper

position - at the center of their travel.
Range of activity
0~180

90
0

The servo motor factory set up

18

at 90 degrees.
0
36.

Nut M4

Screw
M4*14
C9

37.

Aluminum
Screw Alloy Rod
3-M4*8 8*41
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
Metal
Spacer
2-4*10*1
2-M4

Plastic
Spacer
4*7*5

A6
Screw
2-M4*16

A5

3. Tapping Screw
2-M2*4.5 The servos are in their proper
(Servo motor
parts) position - at the center of their travel.
Servo motor
plate-9g

18
0

Range of activity
0~180

90

0
The servo motor factory set up
at 90 degrees.
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. Brass
Stand-offs
2-M3*8

Screw
2-M3*8

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

Servo motor
plate-9g
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
 Flange

4. Bearing
MF84ZZ
Screw
M4*16

Flange
Shaft Screw
Sleeve M4*25
Lock Nut
M4 Flange Screw
Bearing M4*16
MF84ZZ
Flange
Shaft
Sleeve
Shaft
Sleeve
4*7

Screw
M4*8

Brass B1
Stand-offs
4-M4*22
 B1

Flange
Shaft
Sleeve

Screw
Flange M4*8
Bearing
MF84ZZ

Screw
M4*16
5.
 Wiring diagram
Port
(Pump&valve)
uArm Shield

Bluetooth

D13
D12
D11
Limit Pump& D10
Port switch valve D9
(Limit switch) D8
IN OUT VCC GND

Orange white Red Black

wire wire wire wire

Port (D13)

Port (D11)
Port (D9)

Port (D12)

Port (D10)