低成本通用机械臂遥操作接口，3D打印+开源，50美元内搞定
U-ARM : Ultra low-cost general teleoperation interface for robot manipulation
- 三款3D打印主控臂共用控制逻辑，适配多种商用机械臂
- 成本仅50.5美元（6自由度），数据采集效率提升39%
- 开源模型与实测数据，适合机器人研发与教学使用
我们提出U-Arm，一种低成本、快速适配的主从遥操作框架，可对接多数市售机械臂。系统提供三种结构不同的3D打印主控臂，共享统一控制逻辑，实现与多种商用机器人配置的无缝兼容。相比以往开源主从接口，我们在机械设计和舵机选型上进一步优化，6自由度主控臂物料成本仅50.5美元，7自由度版本为56.8美元。通过机械与控制优化，缓解冗余自由度带来的操控难题。实验表明，U-Arm在多场景操作中数据采集效率比Joycon高39%，任务成功率相当。所有三种配置的CAD模型已开源，并提供仿真支持以验证遥操作流程。同时开放了U-Arm采集的真实世界操作数据。项目网址：https://github.com/MINT-SJTU/LeRobot-Anything-U-Arm。
原文摘要 · Abstract (English)
We propose U-Arm, a low-cost and rapidly adaptable leader-follower teleoperation framework designed to interface with most of commercially available robotic arms. Our system supports teleoperation through three structurally distinct 3D-printed leader arms that share consistent control logic, enabling seamless compatibility with diverse commercial robot configurations. Compared with previous open-source leader-follower interfaces, we further optimized both the mechanical design and servo selection, achieving a bill of materials (BOM) cost of only \$50.5 for the 6-DoF leader arm and \$56.8 for the 7-DoF version. To enhance usability, we mitigate the common challenge in controlling redundant degrees of freedom by %engineering methods mechanical and control optimizations. Experimental results demonstrate that U-Arm achieves 39\% higher data collection efficiency and comparable task success rates across multiple manipulation scenarios compared with Joycon, another low-cost teleoperation interface. We have open-sourced all CAD models of three configs and also provided simulation support for validating teleoperation workflows. We also open-sourced real-world manipulation data collected with U-Arm. The project website is https://github.com/MINT-SJTU/LeRobot-Anything-U-Arm.
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