Upgrade from 1.0
If you already have an OpenArm 1.0, you don't need a complete 2.0 kit to upgrade. The arm structure, motors, and electronics are the same in 1.0 and 2.0. The upgrade replaces the gripper with the 2.0 gripper and swaps the J5 bracket.
This page lists only the parts you need to order for the upgrade. Quantities are for a bimanual setup (right and left arm), the same as the OpenArm 2.0 BOM.
What changes
| Part | 1.0 | 2.0 |
|---|---|---|
| Gripper | Linkage-driven parallel gripper | Compact gripper with an in-hand camera |
| J5 bracket | J5_A (MVTUP-ASN-48P-5C724-L) | J5_A_rotate90 (MVTUP-ASN-4EW-3BJ7T-L) |
| J3-J4 cover and J4 cable holders | 1.0 version | 2.0 version (3D printed) |
Manufactured parts
These parts are made to order by MiSUMi meviy. You can find each part by searching its model number on meviy.
| Part | Model No. | Quantity |
|---|---|---|
| J5_A_rotate90 | MVTUP-ASN-4EW-3BJ7T-L | 2 |
| end-efector_base_4310 | MVBLK-ASN-4L6-XGNZZ-L | 2 |
| end-efector_shaft_A_4310 | MVBLK-ASN-4L6-3A34P-L | 2 |
| end-efector_shaft_B_4310 | MVTUP-ASN-4L6-PNLK8-L | 2 |
| end-efector_J7_joint_A_4310 | MVBLK-SUB-4L6-67P51-L | 1 |
| end-efector_J7_joint_A_4310_mir | MVBLK-SUB-4L6-9SWRK-L | 1 |
| end-efector_J7_joint_B_4310 | MVBLK-ASN-4L6-CDD6C-L | 2 |
| end-efector_J7_joint_C_4310 | MVBLK-ASN-4L6-SB22H-L | 2 |
| end-efector_finger_mount_adapter_A_4310 | MVBLK-ASN-4L6-9FP8U-L | 2 |
| end-efector_finger_mount_adapter_B_4310 | MVBLK-ASN-4L6-BGB8M-L | 2 |
| camera_mount_4310 | MVSHM-3N01548-4L6-ABKNZ-L | 1 |
| camera_mount_4310_mir | MVSHM-3N01548-4L6-59WNR-L | 1 |
Off-the-shelf parts
| Part | Model No. | Quantity | Supplier |
|---|---|---|---|
| M3x6 bolt | CBE3-6 | 14 | MiSUMi |
| M3x8 bolt | CBE3-8 | 56 | MiSUMi |
| M3x10 bolt | CBE3-10 | 12 | MiSUMi |
| M3x20 bolt | CBE3-20 | 12 | MiSUMi |
| Ultra low profile socket head cap screw | CBSTNR3-6 | 12 | MiSUMi |
| M2x4 bolt | SCB2-4 | 8 | MiSUMi |
| Spur gear, module 1.0 | SL-GEAHS1.0-36-6-A-17-QFC24-M3 | 4 | MiSUMi |
| Ball bearing | B6802ZZ | 2 | MiSUMi |
| General-purpose pin g6 | MSGS3-10 | 4 | MiSUMi |
| General-purpose pin g6 | MSGS4-8 | 4 | MiSUMi |
| In-hand camera | B0495 | 2 | Arducam |
| Camera cable (1 m) | 20302 | 2 | UGREEN |
The head camera (ZED mini) and the USB hub for the cameras are listed separately in the BOM. Order them too if you want the same camera setup as a complete OpenArm 2.0.
3D printed parts
The files are in the 3D CAD data.
| Part | Quantity |
|---|---|
| cable_holder_J4_A | 2 |
| cable_holder_J4_B | 2 |
| J3-J4_cover_v2.0 (body 2) | 2 |
| end-efector_cover_4310 | 1 |
| end-efector_cover_4310_mir | 1 |
| end-efector_finger_L_v5_4310 (body 4) | 2 |
| end-efector_finger_R_v5_4310 (body 1) | 2 |