UFactory

Assembly Instructions

uArm

Ver.1.0
2014 UFactory Team.

www.ufactory.cc

uArm Replaceable Kit Part List

Mechanical Parts
Item number

Item name

Item description

Qty

Acrylic Parts

Acrylic Board

Item description

Qty

Screw M4-8
Screw M4-16
Screw M4-12
Screw M4-22
Screw M4-14
Screw M4-25
Screw M2-10
Tapping Screw M2-10
Tapping Screw M2-12
Nut M2
Nut M4
Lock Nut M4
Metal Spacer 4x10x1
Shaft Sleeve M4-7
Brass Stand-offs M4-10
Brass Stand-offs M4-15
Brass Stand-offs M4-22
Brass Stand-offs M4-55
Brass Stand-offs M4-65
Aluminum Alloy Rod 8-45
Thin-walled Bearing 61807
Flange Bearing MF84ZZ
Flange Shaft Sleeve
Suction Cup 45-M5
Rivet M5-10
Screw M4-28
Screw M2-10
Screw M3-8
Screw M3-25
Screw M4-16
Nut M2
Nut M3
Lock Nut M4
Brass Stand-offs M3-8
Metal Spacer 4-10-1
Shaft Sleeve 2.5-3-4
Plastic Spacer 3-7-10
Plastic Spacer 4-7-5
Brass Stand-offs M3-30
Brass Stand-offs M3-5#6
Screw M3-5
Screw M3-16
Nut M3
Shaft Sleeve 3-4-10
Spring
Suction Cup DP-10
Suction Cup DP-20
Suction Cup Holder
Nut M5
Dust Filter
Plastic Rivet 3080
Brass Stand-offs M3-30
Screw M3-8

16
11
12
1
4
8
2
8
4
2
24
4
5
1
4
1
4
2
1
1
1
12
12
4
4
3
2
4
1
2
2
2
2
2
2
1
1
2
4
4
8
4
4
4
4
1
1
1
1
3
4
4
8

Components
Item number

Item name

For Basic uArm 1

For Basic uArm 2

For Basic uArm 3

For Basic uArm 4

For Basic uArm 5

For Basic uArm 6

For Basic uArm 7

For Basic uArm 8

For Basic uArm 9

10

For Basic uArm 10

11

For Gripper

12

For Suction Cup End-effector 1

13

For Suction Cup End-effector 2

14

For Suction Cup End-effector 3

15

For Controller Board

Electronic Parts
Item number

Item name

Item description

Qty

1
2

Pump
Valve

Silicone Tubing

Servo

USB Cable

Power Supply

7
8

Uduino
uArm Shield

Pump Kit Board

1
1
1
1
3
2
1
1
1
1
1
1

10

Limit Switch

Pump
Valve
Silicone Tubing (650mm)
Silicone Tubing (80mm)
U-Servo US-D150A
U-Servo US-D009A
USB Cable (1.8m)
Power Supply
Power Supply Cable
Arduino Uno
uArm Shield
Pump and Valve Driver
4Pin Cable (150mm)
Limit Switch
2Pin Cable (550mm)

1
1

Tools
Item number

Item name

Item description

Qty

1
2

Screw Driver
Cone Wrench

Screw Driver
Cone Wrench

1
1

Download uArm Assembly Instructions and Software here:

http://ufactory.cc/downloads.html

Acrylic Parts
A

3
1

6
2
9

7
3

10

13

11

12

10

1
15

12

4
9

11

8
5

13

16

6
7

14

uArm assembly
1.
Servo motor
plate
B8

Tapping Screw
4-M2*10

A2

D12

Screw
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

next installation is difficult

Nut
3-M4

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

90

Note that servo motor sports

coverage during assembly.

The servo motor factory set up

at 90 degrees.
180

6.

7.

You need to tighten the two screws.

Nut M5
D9

Suction Cup
Holder

Filter net

Suction Cup

8.

9.

Nut M2

Servo
motor-9g

A9

Servo motor
plate-9g

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

Tapping Screw
2-M2*4.5
(Servo motor
parts)

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
and valve.

D7

20.
Pump kit
board

Connected to the pump & valve.

Valve
Pump

Valve
Pump

21.
Screw
4-M3*5
D4

22.

Nut
4-M4

A4

Screw
4-M4*12

23.

Servo
motor

Servo
motor

Nut
4-M4

Screw
4-M4*12

A3

24.

Screw
2-M4*8
Screw
2-M4*14

Brass
Stand-offs
M4*65

Nut M4

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
M4*16

27.

Flange
Bearing
MF84ZZ
C2

Brass
Stand-offs
M4*10

Flange
Shaft
Sleeve

B3

28.

Flange
Shaft
Sleeve

Brass
Stand-offs
3-M4*10

Flange
Bearing
MF84ZZ

Brass
Stand-offs
4-M4*22

Screw
M4*16

Screw
6-M4*8

C3

Lock Nut
M4

29.

Flange
Bearing
MF84ZZ

Flange
Shaft
Sleeve

Metal
Spacer
3-4*10*1

Screw
M4*25
C1

C7

Screw
2-M4*8

30.
Flange
Shaft
Sleeve

Screw
M4*16
B11
Flange
Bearing
MF84ZZ

Brass
Stand-offs
M4*15

31.

Flange
Shaft
Sleeve

Flange
Bearing
MF84ZZ

Screw
M4*22
B5

Screw
2-M4*8

32.

Flange
Shaft
Sleeve
Flange
Bearing
MF84ZZ

B4
Screw
M4*8

33.

Screw
M4*16

Flange
Shaft
Sleeve

Lock Nut
2-M4

Flange
Bearing
MF84ZZ

Screw
2-M4*16

C5

C6
Shaft
Sleeve
4*7

Screw
M4*25

34.
Note that servo motor sports
coverage during assembly.

Screw
M4*16
Screw M3*6
(servo motor
parts)

Flange
Shaft
Sleeve

The servo motor

factory set up
at 90 degrees.

180

Range of activity
0~180

90

Lock Nut
2-M4

Flange
Bearing
MF84ZZ

35.

Screw M3*6
(servo motor
parts)

90

The servo motor factory set up

at 90 degrees.

18
0

Range of activity
0~180

Note that servo motor sports

coverage during assembly.

36.

Nut M4

Screw
M4*14

C9

37.

Aluminum
Alloy Rod
8*41

Screw
3-M4*8
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.

Metal
Spacer
2-4*10*1

Lock Nut
2-M4

Plastic
Spacer
4*7*5
A6

Screw
2-M4*16
A5

3.

Tapping Screw
2-M2*4.5
(Servo motor
parts)

Note that servo motor sports

coverage during assembly.

Servo motor
plate-9g

18

0
Range of activity
0~180

90

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.

Servo motor
plate-9g

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

D10

8.

9.

Screw
2-M3*8

A8

Wiring diagram
Port
(Pump&valve)

uArm Shield
Bluetooth

Port
(Limit switch)

Limit
switch

Pump&
valve
IN

D13
D12
D11
D10
D9
D8

OUT VCC GND

Orange white Red

line
line line

Black
line

Port (D13)
Port (D11)

Port (D9)

Port (D12)

Port (D10)