Robot Arm meArm User manual

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meArm Assembly Manual v0.4
meArm v0.4 Assembly Manual
The meArm is a pocket sized, open source, robotic arm designed by en Gran of Nottingham, England.
This assembly manual was created by Scott Pierce (www.spiercetech.com)
Original assembly instructions can be found at: www.instructables.com/id/Pocket-Sized-Robot-Arm-meArm-V04/
Hardware source files can be found at: www.thingiverse.com/thing:360108
Software source code can be found at: www.github.com/phenoptix/MeArm
Alternate source code can be found at: www.instructables.com/id/MeArm-software

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meArm Assembly Manual v0.4
10ea - M3 Nut
4ea - M3 x 20
7ea - M3 x 12
5ea - M3 x 10
10ea - M3 x 8
9ea - M3 x 6
Fasteners:
Here are a list of fasteners required to build the meArm v0.4. The profiles below are actual size.
Note: The Servo Screws and Servo Mount Screws reference in the assembly manual are included with
the servos and do not need to be purchased seperately.

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meArm Assembly Manual v0.4
PARTS LIST
PART NUM ER
QTY
ITEM
ase Plate
11
Rubber Foot
4
2
M3 x 20mm Screw43
M3 Nut
44
Pivot Servo Plate
15
Servo Retainer
1
6
9 Gram Servo
17
M3 x 8mm Screw28
2
2
2
2
3
3
3
3
1
5
7
6
8
8
4
4
4
4
Step 1: Place (4) Rubber Feet on the bottom side of the ase Plate
Step 2: Insert (4) M3 x 20mm Screws through bottom side of the base plate
Step 3: Insert Servo into top side of Servo Retainer
Step 4: Insert Servo into bottom side of Pivot Servo Plate
Step 5: Insert (2) M3 x 8mm Screws through bottom of Servo
Retainer and thread them into the Pivot Servo Plate.
Note: The M3 x 8mm Screws will form their own threads into the
undersized Servo Retainer Plate. Do not over tighten the screws
or it will strip the mating holes.
Step 6: Thread (1) M3 Nut half way onto each of the (4) M3 x 20mm Screws
Step 7: Screw each of the M3 x 20mm Screws into the mating holes on the
Pivot Servo Plate until the end of the screw is flush with the top of
the Pivot Servo Plate
Step 8: Tighten the M3 Nuts the rest of the way down onto
the ase Plate

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meArm Assembly Manual v0.4
PARTS LIST
PART NUM ERQTYITEM
M3 Nut2
1
Servo Retainer1
2
9 Gram Servo13
M3 x 8mm Screw2
4
Left Arm Servo Plate
15
Parallel Linkage
16
Long Servo Arm17
M3 x 6mm Screw
1
8
Servo Single Arm
19
M3 x 12mm Screw210
Servo Screw
111
Servo Mount Screw112
4
4
2
3
5
Step 9: Slide Servo Retainer over the bottom end of the Servo
Step 10: Slide Servo into the Arm Servo Plate, Left
Step 11: Insert (2) M3 x 8mm Screws into the Servo Retainer and then
screw them into the Arm Servo Plate, Left.
Step 12: Insert (2) M3 x 12mm Screws into back side of
Left Arm Servo Plate
Step 13: Thread (1) M3 Nut onto each M3 x 12mm Screw
until nut is flush with the end of the screw
9
12
7
Step 14: Attach the Servo Arm to the Long Servo Arm
Extension using (1) of the (2) longer
screws supplied with the servo
Step 15: Press the Servo Arm assembly onto the Servo
and then gently rotate the Servo Arm clockwise
by hand until it stops. After it has stopped,
remove the Servo Arm assembly from the Servo
and position it as shown in the picture above.
Step 16: Insert Servo Screw that is supplied with the Servo
8
6
Step 17: Insert (1) M3 x 6mm Screw into Parallel Linkage
and thread it into the Servo Arm Extension
1
1
10
10
11

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meArm Assembly Manual v0.4
PARTS LIST
PART NUM ERQTYITEM
M3 Nut2
1
Servo Retainer12
9 Gram Servo
1
3
M3 x 8mm Screw2
4
Parallel Linkage15
M3 x 6mm Screw16
Servo Single Arm
17
M3 x 12mm Screw28
Right Arm ase Joint
19
Right Arm Servo Plate
1
10
Servo Screw111
Servo Mount Screw112
Step 18: Slide Servo Retainer over the bottom end of the Servo
Step 19: Slide Servo into Right Arm Servo Plate
Step 20: Insert (2) M3 x 8mm Screws into the Servo Retainer and then
screw them into the Left Arm Servo Plate
8
8
1
1
12
9
7
11
5
6
Step 21: Insert (2) M3 x 12mm screws into back side of
Right Arm Servo Plate
Step 22: Thread (1) M3 Nut onto each M3 x 12mm screw
until nut is flush with the end of the screw
Step 23: Attach the Servo Arm to the Right Arm ase Joint
using (1) of the Servo Mount Screws supplied with the
Servo.
Step 24: Press the Arm ase Joint assembly onto the Servo and then
gently rotate the Servo Arm counter clockwise by hand until it stops.
After it has stopped, remove the Arm ase Joint assembly from the
Servo and position it as shown in the picture above.
Step 25: Insert the Servo Arm Screw that is supplied with the Servo
10
3
2
4
4
Step 26: Insert (1) M3 x 6mm Screw into the Parallel Linkage
and thread it into the Right Arm Servo Plate

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meArm Assembly Manual v0.4
PARTS LIST
PART NUM ER
QTY
ITEM
Left Arm Mount Tab
11
M3 x 6mm Screw
1
2
Left Arm ase Joint
13
Arm ottom Plate
14
Servo Double Arm
15
Servo Mount Screw26
3
1
2
5
4
6
6
Step 27: Insert (1) M3 x 6mm screw through the Left Arm
Mount Tab and thread it into the Left Arm ase Joint
Step 28: Attach Servo Arm to the Arm ottom Plate using (2)
Servo Mount Screws supplied with the Servo.

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meArm Assembly Manual v0.4
PARTS LIST
PART NUM ERQTYITEM
M3 Nut21
M3 x 12mm Screw22
Arm ase Crossmember23
Main Arm Cross Web
1
4
3
3
2
1
24
1
Step 29: Insert (2) Arm ase Crossmembers into the Left Arm
Servo Plate. Do not tighten screws yet.
Step 30: Insert Left Arm Mount Tab assembly into the slots of
the Arm ase Crossmembers
Step 32: Join the Main Arm Cross Web to the Left Arm ase Joint
Step 33: Insert (1) M3 x 12mm Screw into the Left Arm ase Joint
then tighten nut, securing the Left Arm ase Joint to the
Main Arm Cross Web
Step 31: Insert the Arm ottom Plate into the tabs and
slots of the Left Arm Servo Plate and the Arm
ase Crossmembers
Step 34: Join the Right Arm Servo Plate assembly to the rest
of the assembly from the previous steps using (1) M3
Nut and (1) M3 x12mm Screw.

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meArm Assembly Manual v0.4
PARTS LIST
PART NUM ERQTYITEM
M3 x 6mm Screw21
Servo Screw
1
2
Left Wrist Joint
13
2
1
13
Step 35: Attach the Arm Assembly to the ase assembly and then
secure them together using the included Servo Screw.
Step 36: Attach the Left Wrist Joint to the Parallel Linkage and the Left Arm
ase Joint using (2) M3 x 6mm Screws

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meArm Assembly Manual v0.4
PARTS LIST
PART NUM ER
QTY
ITEM
Parallel Linkage
11
M3 x 6mm Screw12
Parallel Linkage Connector
13
Right Wrist Joint
14
Spacer15
M3 x 10mm Screw26
6
6
2
4
1
3
5
Step 37: Attach (1) Parallel Linkage to the Parallel Linkage Connetor using (1) M3 x 6mm Screw
Step 38: Attach the Parallel Linkage Connector to the Right Wrist Joint and the Left Arm ase Joint using (1) M3 x 10mm Screw
Step 39: Attach the last hole of the Parallel Linkage Connector to the Parallel Linkage on the Right Arm Servo Plate using
(1) M3 x 10mm Screw. Make sure to place (1) Spacer between the Parallel Linkage Connector and the Parallel Linkage.

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meArm Assembly Manual v0.4
PARTS LIST
PART NUM ER
QTY
ITEM
Left Gripper
11
Right Gripper12
Gripper Actuating Arm13
Left Wrist Attachment
14
Right Wrist Attachment
15
Clamp ottom Servo Mount
16
Clamp Top Servo Mount
17
Short Servo Arm
18
Servo Screw19
Servo Single Arm
110
9 Gram Servo111
M3 x 8mm Screw412
M3 x 6mm Screw313
Servo Mount Screw114
M3 x 12mm Screw115
Spacer216
12
12
12 12
7
11
5
4
6
13 13
2
1
3
8
13
10
14
9
15
Step 40: Slide the Servo into the Clamp Top Servo Mount.
Step 41: Slide the Right and Left Wrist Attachments into the Clamp Top
Servo Mount as show.
Step 42: Slide the Clamp ottom Servo Mount over the Servo.
Step 43: Insert (4) M3 x 8mm Screws into the Clamp Top Servo Mount and
thread them into the Clamp ottom Servo Mount.
Step 44: Attach the Left Gripper and Right Gripper to the Servo
assembly from the previous step using (2) M3 x 6mm
Screws
Step 45: Attach (1) Servo Single Arm to the Short Servo Arm
using (1) Servo Mount Screw
Step 46: Attach the Gripper Actuating Arm to the Short Servo Arm
using (1) M3 x 6mm Screw
Step 47: Attach the Gripper Arm assembly from the previous step
to the Servo assembly using (1) 9 Gram Servo Screw,
(1) M3 x 12mm Screw, and (2) Spacers
16
16

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meArm Assembly Manual v0.4
PARTS LIST
PART NUM ER
QTY
ITEM
Spacer11
M3 x 10mm Screw32
1
2
2
2
Step 48: Attach the right side of the Gripper assembly to the rest of the meArm using
(2) M3 x 10mm screws and (1) Spacer
Step 49: Attach the left side of the Gripper assembly to the rest of the meArm using
(1) M3 x 10mm screw