# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: OnesArm
summary: A modular serial robotic arm built from interchangeable joint, link and end-effector modules for multi-scenario tasks.
category: arm
difficulty: advanced
license:
  hardware: CC-BY-4.0
  software: MIT
source:
  repository: https://github.com/Robusr/OnesArm
  ref: f5d0613ae5b104bb1e21175de79a9b4dab99eeff
tools:
  - 3D printer
  - soldering iron
  - SolidWorks
  - STM32CubeIDE
  - MATLAB
files:
  parts_3d: mechanical/
  cad: mechanical/
  bom: BOM/onesarm_bom.csv
  docs: docs/
  images:
    - media/photos/project/onesarm_prototype.jpg
specs:
  dof: 4
  power_w: 350
  reach_mm: 450
build_steps:
  - title: Fabricate the aluminium and carbon structure
  - title: Print the 9400A joint housings
  - title: Fabricate the electronics from Gerber files
  - title: Assemble the 4040 platform and power supply
  - title: Configure the STM32 CAN joint modules
  - title: Run the kinematics verification scripts