UFactory uArm Swift Pro User Manual
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UFactory uArm Swift Pro User Manual

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User Mau na l
S H E N Z H E N U F A C T O R Y C O . LT D .
v 1 . 1 . 0

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Summary of Contents for UFactory uArm Swift Pro

  • Page 1 User Mau na l S H E N Z H E N U F A C T O R Y C O . LT D . v 1 . 1 . 0...

  • Page 2: Table Of Contents

    Contents 1. Safety Precautions 1.1.Precautions 1.2.General Safety 1.3.Emergency stop 2. Quick Start 2.1.uArmWiring 2.2.Installation of uArm Studio Software 2.2.1.Environmental requirements 2.2.2.Obtain and install the uArm Studio software package 2.3.Power On/Off 3.Product Description 3.1.Overview 3.2.uArm (Host) 3.2.1.External Structure 3.2.2.Base & Indicator 3.3.Extension Port 3.4.Workspace 4 .Operating Guide...
  • Page 3 4.5.1.Universal pen holder installation tutorial 4.5.2.Laser kit installation tutorial 4.5.3.Import patterns & Parameters setting 4.5.4.Adjust the Zero Point 4.6.Bluetooth Tutorial 4.6.1.Bluetooth Pairing Steps for IOS 4.6.2.Bluetooth Pairing Steps for Android 4.6.3.Precautions Appendix OpenMV module Link of Developer's Manual uArm Community Releases History...

  • Page 4: Safety Precautions

    3. Please make sure that there is enough space on the desktop to avoid hitting obstacles during the operation of the robotic arm ; 1.2 General Safety If an error occurs, please contact support@ufactory.cc in time. If the product is scrapped, please comply with relevant laws to properly dispose of industrial waste and protect the environment.

  • Page 5: Quick Start

    2.Quick Start This chapter briefly describes how to control uArm through uArm Studio so that users can quickly understand and start using uArm . 2.1 uArmWiring Step 1 Connect the power cord Step 2 Turn on the power switch Step 3 Connect uArm via USB cable and your computer 2.2 Installation uArm Studio control software Users can control the robotic arm through the control software uArm Studio, and to realize teaching reproduction, 3D printing and other operations.

  • Page 6: Product Description

    3.Product Description 3.1 Overview uArm is the world's first open-source desktop robotic arm, it features open source hardware and software, you can expand the development uArm functions to suit your needs. The uArm Swift Pro with uArm vision module to perform image recognition and it is ideal for AI robotics research.

  • Page 7: Base & Indicator

    3.2.2 Base & Indicator...
  • Page 8 By default, the custom function button is used for Bluetooth mode /USB mode switching. Before using the USB mode, make sure the custom function buttons are in the up state as shown.

  • Page 9: Extension Port

    3.3 Extension Port The uArm interface is located on the back of the base and the arm. The diagram of the base interface is shown in the figure. GND 5V Steering interface...

  • Page 10: Workspace

    3.4 Workspace uArm 's workspace is shown in the figure.

  • Page 11: Operating Guide

    4.Operating Guide 4.1 uArm Studio Software User Manual The uArm robotic arm has hand-guiding, drawing, engraving and 3D printing functions, which can be implemented by uArm Studio software. The functions supported by uArmStudio are shown in the figure, and the detailed functions are as shown in the table. Module Function The robotic arm is controlled in a visual programming manner,...

  • Page 12: Quick Start

    4.2.1 Quick Start There are three tasks for newbie to help you quickly understand Blockly.

  • Page 13: Blockly Function Description

    4.2.2 Blockly Function Description (1)Control the basic motion of uArm (2)Events ( How to trigger a command ) (3)Apply the action you recorded (4)Advanced programming ( functions, variables, etc. )

  • Page 14: Hand-Guiding Tutorial

    4.3 Hand-guiding Tutorial Holding the uArm to record the action , then playing the recorded action. 4.3.1 Suction Cup Installation Tutorial Step 1 : Install the suction cup on the fourth axis of the arm and tighten the hand screw. Step 1 : Install the suction cup on the fourth axis of the arm and tighten the hand screw.

  • Page 15: Gripper Installation Tutorial

    4.3.2 Gripper Installation Tutorial Step 1 Use a hex wrench to remove the suction cup. Step 2 Install the gripper and lock the fixing screws.

  • Page 16: Hand-Guiding

    Step 3 Install the fourth axis motor and gripper. 4.3.3 Hand-guiding Holding the uArm to record the action , then playing the recorded action. 4.3.3.1 Operation Tutorial (1)Record Action Tap ‘Start Record’ on uArm Studio to activate the function or tap ‘Menu’ to start recording.

  • Page 17: 2.Offline Guiding Operation Tutorial

    (2)Save (3)Set the playback speed and number of playbacks 4.3.3.2 Offline Teaching Operation Tutorial Teaching with buttons on the robotic arm when offline.

  • Page 18: Printing Tutorial

    Recording : 1. Open the teaching mode: press the menu button once, the status indicator turns green . 2. Hold the arm and guide it, press the play button once to open the suction cup/gripper, and then press the play button again to close the cup/gripper. (If custom button is pressed, and the uArm is in gripping /suction cup mode, press the custom button again, otherwise the Bluetooth function will automatically start in this mode.
  • Page 19 Step 2 : Install the 3D printing feeding system Note : Please make sure the connection is correct, otherwise the computer will not recognize the robotic arm.
  • Page 20 Connect the motor and expansion board with a color 4pin cable ( Importing PLA printing materials into the feeding system) ( Importing PLA printing materials into the feeding system) Step 3 : Install PTFE catheter...
  • Page 21 Install printing material and feeding tube Step 4 : Allow the 3D printed material 60 cm above the catheter Note : If the printer is unable to discharge, it may be due to the deformation of the end of the printed material. Step 5 : 3D print nozzle mounting catheter...

  • Page 22: Cura For Uarm Software Tutorial

    If there is an error in the horizontal state of the arm, please refer to 4.4.3 for the calibration. 4.4.2 Cura For uArm Sofware Tutorial (1)Download and install CuraForuArm： http://www.ufactory.cc/#/cn/support/ (2)Enter uArm 3D printing, CuraForuArm will automatically start, if it doesn't start, click ‘Open Cura”...
  • Page 23 (3)Import a .stl file and adjust the size/position of the model. (4)Select “uArm Swift Pro” printer and the corresponding files. It is suggested to use the default setting. To set the 3D printing parameters, select the "Print Setup" option. If the "Print Monitor"...

  • Page 24: Calibration Tutorial And Calibration Card

    The 3D print nozzle will be preheated to 200 °C . The robotic arm will wait for the print nozzle to warm up. Please do not touch the metal part of the print nozzle to avoid burns. 4.4.3 Calibration tutorial and calibration card Calibration tutorial http://download.ufactory.cc/docs/download/uArm-Swift-Pro-Calibration.pdf Calibration Card http://download.ufactory.cc/docs/download/Position-Sheet.jpg 4.5 Drawing / engraving tutorial 4.5.1 Universal pen holder installation tutorial...
  • Page 25 Step 1 : Remove the suction cup with a hexagonal L -wrench Step 2 : Install the universal clip and tighten the screws...

  • Page 26: Laser Kit Installation Tutorial

    Step 3 : Connect the fourth axis motor 4.5.2 Laser kit installation tutorial 4.5.2 Laser kit installation tutorial Material ( laser nozzle, hand screw ) Material ( laser nozzle, hand screw )
  • Page 27 Step 1 : Fix the laser nozzle and tighten the hand screw Step 2: Insert the laser control board into the end of the arm ( please pay attention to the interface direction )

  • Page 28: Import Patterns & Parameters Setting

    Note : If you cannot perform laser engraving, please open the uArm Studio software, turn on the “ drawing / engraving ” function, and rotate the laser nozzle to adjust the focus. During the engraving process, please do not touch the laser nozzle or place your hand in the laser irradia- tion area.

  • Page 29: Adjust The Zero Point

    (contour or grayscale mode ) Step 2; Click the " Run " button to start running Step 3: Start drawing / engraving 4.5.4 Adjust the Zero Point Before using the “ paint / engraving ” function, please adjust the zero point to ensure that the pen / laser nozzle just touches the table.

  • Page 30: Bluetooth Tutorial

    4.6 Bluetooth Tutorial 4.6.1 Bluetooth Pairing Steps for IOS Step 1: Open uArm software and Bluetooth on your phone, click to connection Step 2: Turn on the uArm power supply Step 3: Press the Bluetooth button Step 4: As shown in the figure , the name of uarm will be displayed in the software , click to connect.

  • Page 31: Precautions

    4.6.2 Bluetooth Pairing Process for Android Step 1: Open uArm software and Bluetooth in your phone,click to connect Step 2: Turn on the uArm power supply Step 3: Press the Bluetooth button Step 4: After clicking the connection, the following interface will pop up (if no, you can skip to step 5) In the case of ensuring positioning and Bluetooth opening, you need to open the positioning and Bluetooth usage rights in Settings - Authorization Management- uArm play.

  • Page 32: Appendix Openmv Module

    Appendix OpenMV module OpenMV Module （firmware version should be at least 3.1.9 ） Next: Download the latest OpenMV IDE...
  • Page 33 ( Download the latest OpenMV IDE: Https://openmv.io/pages/download , after installing OpenMV IDE , connect OpenMV to computer with USB cable , click the “Connect ” button in the lower left corner of the software interface ). Step 2 : Upgrade via OpenMV IDE OpenMV firmware Step 3: Run helloworld.py to adjust the camera focal length through the image of the soft- ware interface.
  • Page 34 Click "tool" - "Save open script to OpenMV Cam" , after the code is successfully saved, restart OpenMV by plugging in the USB cable . If the code is successfully stored ,after the OpenMV module is connected to USB , the status of OpenMV is light blue. Step 5 : Unplug OpenMV USB cable, connected by wires to the robotic arm OpenMV Note : Make sure the installation is correct or your computer may not recognize your uArm .
  • Page 35 Step 6 : OpenMV secured to the robotic arm end-effector. Note : Please pay attention to the installation direction of OpenMV . If the direction is wrong, The arm may move in the opposite direction. Please ensure OpenMV has already been discon- nected from the computer, otherwise Open MV IDE will continue to control Open MV...
  • Page 36 Step 7 : Make sure the desktop is clean and non-reflective. Place an easy-to-recognize object on the table, such as a small PCB with resistors. Step 8 : Place the robotic arm about 25 cm above the target object to let the Open MV recognize the object.
  • Page 37 Step 10 : Click to open the serial monitor. Step 11 : Change settings ( Line feed & 115200 baud rate ) , send M2500 command, the UART main communication port of the robotic arm will be switch from USB to OpenMV. Step 12 : Move the object slowly and the arm will follow the target object .

  • Page 38: Link Of Developer's Manual

    Link of Developer's Manual uArm Community UFACTORY Official Forum http://forum.ufactory.cc/ uArm Facebook https://bit.ly/2PUOQfE uArm Technical Support http://www.ufactory.cc/#/cn/ticket Product Video https://bit.ly/30caY9M Releases History Version Releases Description 1.0.7 Added content to 3D printing operation guide and make modification Added details to OpenMV content Released Content about Laser Nozzle focal Length 1.0.8...
  • Page 39 Ufactoty2013 UFACTORY_UF UFACTORY w ww.ufactor y.cc Website: Em ai l : in fo@u factor y.cc Ad dress: 2F, B uil ding M-6, Ma Qu e Li n g I n du s tri al Z on e , Nan shan Dis trict, Shenz h en , G u a ng do n g, P.R . Ch i n a...

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