XR-6DOTPI
Six Degrees of Freedom Vision Robotic Arm
Visual Recognition | Open Source Code | Voice Interaction | Replicable Creation Capability
Product Introduction
The XR-6DOF six-DOF vision robotic arm is powered by a Raspberry Pi/Jetson Nano and features a six-DOF robotic arm and a high-definition wide-angle camera, enabling the robotic arm to perceive and interact with its environment from its own perspective. It supports Python programming and, through deep learning and AI vision, can achieve functions such as intelligent warehousing, intelligent transfer, color recognition, image recognition, and target tracking.
It not only meets users' needs for learning and verifying algorithms related to machine vision, robotic arm motion control, and torque control, but is also a fully open-source hardware development kit. provides users with complete production files and 3D models, hardware program code, and a detailed BOM list. Users can perform secondary development, customization, or complete replication according to their own needs.
| AI (Artificial Intelligence) | Hand-eye coordination | Voice interaction |
| Visual Recognition | Face Recognition | Target Tracking |
| Raspberry Pi/Nvidia | Serial bus servo | Inverse kinematics |
| Opemcv | Gamepad Control | Python Programming |
Two main controller options are available
| ||
| Main controller | Raspberry Pi 4B | Jetson Nano B01 |
| Processor | Broadcom BCM2711 Quad-core Cortex-A72 @ 1.5GH | NVIDIA Maxwell GPU Quad-core ARM Cortex-A57 @ 1.43GHz |
| GPU | VideoCore VI Supports OpenGL ES 3. | 128-core NVIDIA Maxwell CUDA Suppor |
| AI performance | No dedicated AI acceleration | 472 GFLOPS (FP16) |
| Memory | 1GB/2GB/4GB/8GB LPDDR4 | 4GB LPDDR4 |
| Storage | 64GB microSD card | 64GB microSD Card |
| Power consumption | 10W | 5W|10W |
| Operating system | Raspberry Pi OS | Ubuntu |
The XR-6DOF robotic arm offers two main controllers: Raspberry Pi 5 and Jetson Nano B01, and their usage methods are essentially the same. The course materials, product functions, and control software we provide are all identical | ||
Package differences
| Gameplay/Package | Starter Edition (Battery not included) | Standard Edition (Built-in 10000mAh Lithium Battery | Developer Edition (Includes Map/Items/ Voice Module/Shelf) |
| Six-DOF robotic arm | ✔ | ✔ | ✔ |
| 1080P camera | ✔ | ✔ | ✔ |
| Power supply method | 12V DC | 10000mAh Lithium Battery | 10000mAh Lithium Battery |
| Controller remote control | ✔ | ✔ | ✔ |
| Color following | ✔ | ✔ | ✔ |
| Face following | ✔ | ✔ | ✔ |
| Color sorting | ✔ | ✔ | ✔ |
| QR code sorting | ✔ | ✔ | ✔ |
| Voice interaction | ✘ | ✘ | ✔ |
| Intelligent warehousing | ✘ | ✘ | ✔ |
| Intelligent outbound | ✘ | ✘ | ✔ |
| Intelligent transfer | ✘ | ✘ | ✔ |
Hand-eye-arm integrated inverse kinematics algorithm:
The robotic arm's end effector is equipped with a 1080P wide-angle camera, enabling eye-to-hand
movement and providing a first-person perspective experience for easy grasping and handling of target objects.
AI Machine Vision Sorting and Palletizing:
The robotic arm utilizes first-person vision to recognize different colors and QR codes,
enabling intelligent AI projects such as object following, sorting, and intelligent palletizing.
|
|
1. First-person perspective FPV real-time video Supports WiFi or wired connection; simply power on to connect to the robotic arm. The robotic arm's first-person perspective can be transmitted back to the software in real time. | 2. Face Recognition and Following The robotic arm can recognize and follow faces, automatically adjusting its posture to ensure the face remains within its field of vision. |
|
|
3. Color recognition and tracking Specific colors can be specified; once the robotic arm recognizes that color, it can locate and continuously track the target. | 4. Gesture Recognition The robotic arm can recognize various gestures within its field of vision and automatically display the corresponding gesture numbers on the software interface. |
|
|
5. Color sorting The robotic arm can recognize and sort building blocks of different colors. In addition to preset colors, users can further develop custom color recognition. | 6. QR Code Sorting The robotic arm can recognize different QR codes and determine the position of the QR code blocks, achieving intelligent palletizing and stacking. |
AI-Advanced Visual Smart Warehousing
Robotic arms utilize first-person vision to achieve intelligent inbound, intelligent outbound, and intelligent transfer functions.
01 Intelligent Retrieval The robotic arm can locate the type of block being dragged on the software within the recognition area. Upon successful recognition, it automatically picks up the block and places it into the designated storage location. | 02 Intelligent Transfer Warehouse The robotic arm can automatically move to the warehouse level number set in the software, and automatically pick up building blocks and place them into the designated warehouse. |
|
|
AI Intelligent Voice Control
The upgraded robotic arm features an expanded voice module. After installation, it enables intelligent voice interaction functions
such as voice-controlled object following and cargo transfer.
Cross-platform control at will:
In addition to optional voice control, the DOTPI robotic arm defaults to PC and gamepad control.
The gamepad controls each joint and function of the robotic arm, while the PC-based visualization software allows for real-time viewing of a first-person perspective, control of the robotic arm, and execution of various A/D vision functions.
| Computer control | Wireless gamepad control |
Hardware source code is open source - including the underlying layer.
3D model diagram
Extended schematic diagram (PCB layout available)
Product parameters
| AI six-DOF vision robotic arm parameters | |
| Product Main Controller | Raspberry Pi 4B Development Board |
| Programming Voice | Python |
| Camera Resolution | 1080P |
| Body Material | Aluminum Alloy |
| Interfaces | UART/SPI/12C/GPIO |
| Joint Degrees of Freedom | Six Degrees of Freedom |
| Power Supply Voltage | 12V |
| Grip Weight | 500G (Extreme Load ≤ 1.5KG) |
| Communication Method | USB Interface/WiFi/Ethernet |
| Battery Life | ≥120 Minutes (Standard/Development Version) |
| Servo Motors | XR3230 12V High-Voltage Bus Servo (30kg.cm) |
| Product Dimensions | 229x158x428mm |
| Product net weight | Approximately 1.7KG (Raspberry Pi version) |
01 High-Voltage Serial Bus Servo
Equipped with an S370 high-voltage bus servo, it provides higher torque output and faster response speed at 12V operating voltage.
The robotic arm's gripping capacity exceeds 500g, and it supports real-time feedback.
The bus-type serial wiring structure reduces control port usage, resulting in a clean and efficient layout.
The controller sends control commands to th servos via a serial port. Each servo can be assigned a unique ID number to match different application scenarios. | This high-torque dual-axis digital servo uses a metal gear set and has a service life far exceeding that of similar rubber-gear servos. | The main and secondary shafts work together, using servo motor power output to drive the joints to rotate, ensuring stable rotation of the robotic arm joints. |
| High-voltage serial bus servo parameters | |||
| Product main controller | XR-S370 Bus Servo | Stall torque | 30kg.cm |
| Operating voltage | 12V | Electronic resolution | 0.008 |
| Rotation angle | 360° | Readback function | Supported |
| No-load speed | 0.222sec/60 | Control algorithm | PID |
| No-load current | 180mA | Stag current | 2.7A |
| Feedback | Location, load speed, input voltage, operating current, operating temperature | ||
02 Robot Drive Expansion Board
The robot drive expansion board integrates multiple interfaces, including servo motors, ultrasonic sensors,
serial ports, ICs, and other functional modules. It is equipped with a power management system, user interaction buttons,
and LED indicators, making it suitable for intelligent robot development.
| 1. Serial servo interface | 7. Serial port | 13. User Button 2 |
| 2. Servo LED | 8. Button socket | 14. User LED 2 |
| 3. PWM servo 1-8 | 9. Power button | 15. User LED 3 |
| 4. Serial servo interface | 10. Power Interface | 16. User Button 3 |
| 5. Ultrasonic | 11. Voltage Meter | 17. Power LED |
| 6. IIC | 12. Charging Port |
03. 10000mAh High-Capacity Lithium Battery
DOTPI features a built-in rechargeable lithium battery with a capacity of 10000mAh.
Compared to solutions on the market that only use a power adapter, this design makes secondary development more convenient,
while improving battery life. Developers can focus on feature implementation and optimization,
without frequently changing batteries or searching for power outlets.
| High-voltage serial bus servo motor parameters | |
| Battery Name | 12V Lithium Battery Pack | |
| Full Charge Voltage | 12.6V | |
| Battery Capacity | 10000mAh | |
| Battery Charge/Discharge Connector | DC5.5-2.1 | |
Product List
Starter version (batteries not included)
Six-DOF robotic arm (Finished product shipped) | Power adapter | Wireless handle |
Standard version (built-in 10000mAh lithium battery)
Six-DOF robotic arm (Finished product shipped) | Power adapter | Wireless handle |
Developer version (built-in 10000mAh lithium battery)
Six-DOF robotic arm (Finished product shipped) | Power adapter | Wireless controller | Map | Building blocks | Shelf (loose parts outbound) |
