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Star Arm 102 Product Specifications

Arm Specifications

Item Star Arm 102-LD Star Arm 102-FL
Degrees of freedom 6+1 6+1
Accuracy - 5-8 mm
Recommended maximum payload - 300 g
Joint range Joint 1: ±110°
Joint 2: 0°~180°
Joint 3: 0°~270°
Joint 4: ±90°
Joint 5: ±65°
Joint 6: ±150°
Gripper: 0°~90°		 Joint 1: ±110°
Joint 2: 0°~180°
Joint 3: 0°~270°
Joint 4: ±90°
Joint 5: ±65°
Joint 6: ±150°
Gripper: 0°~90°
servo configuration Joints #1, #2, #3, and #4 use RA8-U01H-M;
Joint #5 uses RA8-U02H-M;
Joint #6 and the handle joint use RA8-U03H-M		 Joints #1, #4, #7, and the gripper use RA8-U25H-M;
Joints #2 and #3 use RX8-U45H-M;
Joint #5 uses RA8-U25H-M
Communication hub UC-01 UC-01
Communication method UART UART
Power specification (optional) 12V2A / XT30 12V10A / XT30
Tools and fasteners Screws, threadlocker, woodworking clamps x2, spare PCB (UC01), DC power adapter cable (5.5 x 2.5 mm connector), 200 mm servo extension cable, USB-A to USB-C cable, mouse pad Screws, threadlocker, woodworking clamps x2, spare PCB (UC01), DC power adapter cable (5.5 x 2.5 mm connector), 200 mm servo extension cable, USB-A to USB-C cable, mouse pad
Angle sensor 12-bit magnetic encoder 12-bit magnetic encoder
Weight 663 g 791 g
Recommended operating temperature range 0-40°C 0-40°C
LeRobot support ✓ ✓
ROS 2 support ✓ ✓
MoveIt support - ✓
Gazebo support - ✓

Joint Mapping

The StarArm102 robotic arm has 7 joints, including 6 degrees of freedom and 1 rotating gripper.

Joint Angle Range Description
Joint1 -110° ~ 110° Base rotation
Joint2 0° ~ 180° Shoulder pitch
Joint3 0° ~ 270° Elbow pitch
Joint4 -90° ~ 90° Wrist rotation
Joint5 -65° ~ 65° Wrist yaw
Joint6 -150° ~ 150° Wrist rotation
Gripper (joint7_left) 0° ~ 90° Rotating gripper

Note

The rotating gripper is controlled through joint7_left. joint7_right is the linked joint and automatically synchronizes in the opposite direction.

Control Method Comparison

Feature Python SDK ROS2 Humble LeRobot
Difficulty Easy Medium Advanced
Real-time performance High Medium-high Medium-high
Extensibility Basic control extension Strong system integration capability AI data and training oriented
Application scenarios Quick testing and teaching Robot system integration, simulation, and motion planning AI training, data collection, and research

Environment Requirements

Item Requirement
Operating system Ubuntu 22.04
ROS version ROS2 Humble
Python version Python 3.8+
Hardware device Star Arm 102 robotic arm (Leader + Follower)
Driver CH340 USB Driver

Hardware Connection

Connection Topology

                    ┌─────────────────┐
                    │                 │
                    │      计算机      │
                    │ (Ubuntu 22.04)  │
                    └────────┬────────┘
                             │
              ┌──────────────┼──────────────┐
             USB                           USB
              │                             │
       ┌──────┴──────┐               ┌──────┴────────┐
       │             │               │               │
       │ Leader Arm  │               │ Follower Arm  │
       │(StarArm 102)│               │ (StarArm 102) │
       └─────────────┘               └───────────────┘

Device Recognition

# 查看所有 USB 设备
lsusb

# 查看串口设备
ls -l /dev/ttyUSB*

# 赋予权限
sudo chmod 777 /dev/ttyUSB*

Safety Notes

  1. Before operation, confirm that there are no obstacles around the robotic arm to avoid collisions with people, the desktop, or cables.
  2. While the program is running, press Ctrl+C to stop the control flow. If abnormal motion occurs, disconnect power or USB immediately.
  3. Do not manually force a joint beyond its limit, as this may damage the structure or the servo.
  4. Use a stable 12 V power supply to avoid voltage fluctuations that may cause servo reset or communication errors.

Detailed Documentation