UFactory uArm Controller User manual

uArm
www.ufactory.cc
Ver.1.0
Assembly Instructions
UFactory
©2014 UFactory Team.

Item number
Item name Item description Qty
1 Acrylic Parts Acrylic Board 4
Item number
Item name Item description Qty
Screw M4-8 16
Screw M4-16 11
Screw M4-12 12
Screw M4-22 1
Screw M4-14 4
Screw M4-25 8
Screw M2-10 2
Tapping Screw M2-10 8
Tapping Screw M2-12 4
Nut M2 2
Nut M4 24
Lock Nut M4 4
Metal Spacer 4x10x1 5
Shaft Sleeve M4-7 1
Brass Stand-offs M4-10 4
Brass Stand-offs M4-15 1
Brass Stand-offs M4-22 4
Brass Stand-offs M4-55 2
Brass Stand-offs M4-65 1
Aluminum Alloy Rod 8-45 1
Thin-walled Bearing 61807 1
Flange Bearing MF84ZZ 12
Flange Shaft Sleeve 12
Suction Cup 45-M5 4
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
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
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
Suction Cup Holder 1
Nut M5 1
14 For Suction Cup End-effector 3 Dust Filter 3
Plastic Rivet 3080 4
Brass Stand-offs M3-30 4
Screw M3-8 8
15
11
12
For Controller Board
For Gripper
For Suction Cup End-effector 1
8 For Basic uArm 8
13 For Suction Cup End-effector 2
9 For Basic uArm 9
4
5
6
For Basic uArm 4
For Basic uArm 5
For Basic uArm 6
7 For Basic uArm 7
For Basic uArm 3
Components
3
1
2
Mechanical Parts
uArm Replaceable Kit Part List
For Basic uArm 1
For Basic uArm 2

9
AB
CD
9
9
10
11
12
13
14
16
15
9
10
11
13 12
3
3
3
3
4
4
4
4
5
55
5
7
77
7
8
8
8
8
6
6
6
6
1
1
1
1
2
2
2
2
Acrylic Parts
Item number
Item name Item description Qty
1 Pump Pump 1
2 Valve Valve 1
Silicone Tubing (650mm) 1
Silicone Tubing (80mm) 1
U-Servo US-D150A 3
U-Servo US-D009A 2
5 USB Cable USB Cable (1.8m) 1
Power Supply 1
Power Supply Cable 1
7 Uduino Arduino Uno 1
8 uArm Shield uArm Shield 1
Pump and Valve Driver 1
4Pin Cable (150mm)
Limit Switch 1
2Pin Cable (550mm) 1
Item number
Item name Item description Qty
1 Screw Driver Screw Driver 1
2 Cone Wrench Cone Wrench 1
9
Limit Switch10
Download uArm Assembly Instructions and Software here:
http://ufactory.cc/downloads.html
Tools
Electronic Parts
3 Silicone Tubing
Servo
Power Supply
4
6
Pump Kit Board

uArm assembly
3-M4*25
Screw
3-M4
Nut
Servo motor
plate
Bearing
61807
Tapping Screw
4-M2*10
D13
D12
B8
A2
B6
1.
Rivet
4-M5*10
Suction Cup
4-45-M5
A1
2.
Nut
4-M4
Screw
4-M4*12
Servo
motor
B12
3.

Screw
3-M4*28
Nut
3-M4
Metal Spacer
3-4*10*1
B9
B7
D14
B13
4.
Screw M3*6
(Servo motor
parts)
5.
Range of activity
0°~180°
0°
90°
180°
The servo motor factory set up
at 90 degrees.
Note that servo motor sports
coverage during assembly.
Don't tighten the three nuts, or the
next installation is difficult
After this installation is complete,
using a wrench and tighten the three nuts.

Suction Cup
Holder
Filter net
Suction Cup
You need to tighten the two screws.
6.
Nut M5
D9
7.
Nut M2
Servo
motor-9g
Screw
M2*10
A9
8.
Tapping Screw
2-M2*4.5
(Servo motor
parts)
Servo motor
plate-9g
9.
Tapping Screw
2-M2*6
(Servo motor
parts)
Screw
4-M3*16
Limit
Switch
10.
Spring
Shaft Sleeve
4-3*4*10
Nut
4-M3
11.

Screw
4-M3*5
Brass Stand-offs
4-M3*5+6
D1
12.
Screw
4-M3*8
Brass Stand-offs
4-M3*30
13.
Plastic Rivet
3080
Uduino
uArm Shield
14.
Screw
4-M3*8
D2
15.

Brass Stand-offs
4-M3*30
D3
16.
D6 D5
17.
Pump Silicone
Tubing
(80mm)
D8
Connect the silicone tubing
and the pump.
18.

Valve
D7 Connect the silicone tubing
and valve.
19.
Pump kit
board
Pump
Valve
Pump
Valve
Connected to the pump & valve.
20.
Screw
4-M3*5
D4
21.

Screw
4-M4*12
Nut
4-M4
Servo
motor
A4
22.
Screw
4-M4*12
Nut
4-M4
Servo
motor
A3
23.
Brass
Stand-offs
2-M4*55
Brass
Stand-offs
M4*65
Screw
2-M4*14
Screw
2-M4*8
Nut M4
C8
24.

Tapping Screw
4-M2*12
Servo motor
plate
D15
C4
25.
Tapping Screw
4-M2*10
Servo motor
plate
B10
26.

Screw
M4*16
Flange
Bearing
MF84ZZ
Flange
Shaft
Sleeve
Brass
Stand-offs
M4*10
B3
C2
27.
Screw
M4*16
Screw
6-M4*8
Flange
Bearing
MF84ZZ
Flange
Shaft
Sleeve
Brass
Stand-offs
3-M4*10
Brass
Stand-offs
4-M4*22
C3
28.
Metal
Spacer
3-4*10*1
Screw
M4*25
Screw
2-M4*8
Flange
Bearing
MF84ZZ
Flange
Shaft
Sleeve
Lock Nut
M4
C7
C1
29.
Screw
M4*16
Flange
Bearing
MF84ZZ
Flange
Shaft
Sleeve
Brass
Stand-offs
M4*15
B11
30.

Screw
2-M4*16
Screw
M4*25
Shaft
Sleeve
4*7
Flange
Bearing
MF84ZZ
Flange
Shaft
Sleeve
Lock Nut
2-M4
C6
C5
33.
Screw
M4*22
Screw
2-M4*8
Flange
Bearing
MF84ZZ
Flange
Shaft
Sleeve
B5
31.
Screw
M4*16
Screw
M4*8
Flange
Bearing
MF84ZZ
Flange
Shaft
Sleeve
B4
32.

Screw M3*6
(servo motor
parts)
35.
Range of activity
0°~180°
The servo motor factory set up
at 90 degrees.
0°
90°
180°
Note that servo motor sports
coverage during assembly.
Screw
M4*16
Screw M3*6
(servo motor
parts)
Flange
Bearing
MF84ZZ
Flange
Shaft
Sleeve
Lock Nut
2-M4
34.
Range of activity
0°~180°
The servo motor
factory set up
at 90 degrees.
0°
90°
180°
Note that servo motor sports
coverage during assembly.

Screw
M4*14
Nut M4
C9
36.
Screw
3-M4*8
Screw
M4*14
Aluminum
Alloy Rod
8*41
37.

Nut
M4
38.
Screw
M4*16
39.
Silicone
Tubing
(650mm)
Connect the suction cup holder and valve
with silicone tubing.
40.

Gripper assembly
Screw
2-M2*10
Nut
2-M2
Servo
motor-9g
A7
1.
Metal
Spacer
2-4*10*1
Plastic
Spacer
4*7*5
Lock Nut
2-M4
Screw
2-M4*16
A6
A5
2.
Tapping Screw
2-M2*4.5
(Servo motor
parts)
Servo motor
plate-9g
3.
Range of activity
0°~180°
The servo motor factory set up
at 90 degrees.
0°
90°
180°
Note that servo motor sports
coverage during assembly.

Tapping Screw
2-M2*8
(Servo motor
parts)
Shaft
Sleeve
2.5*3*4
D11
4.
Plastic
Spacer
3*7*10
Nut
2-M3
Screw
M3*25
5.
Brass
Stand-offs
2-M3*8
Screw
2-M3*8
6.
Tapping Screw
2-M2*6
(Servo motor
parts)
Servo motor
plate-9g D10
7.

8.
Screw
2-M3*8
A8
9.