Klaw

KLAW-b is a 5 Degrees of Freedom robotic arm developed by Yudu Robotics, designed for educational and practical applications. It is capable of replicating human arm movements and can be operated through manual control knobs or programmed for automated tasks. The device is equipped with precision servos and constructed from lightweight materials to facilitate movement and durability. KLAW-b is used in robotics education, hobbyist projects, and basic automation tasks.

Features and Capabilities

KLAW-b is designed for precise object handling, multi-angle gripping, and controlled placement. With its manual control knobs, users can make direct adjustments, reducing reliance on preprogrammed commands. This feature is especially useful for real-time modifications during demonstrations and troubleshooting.

Key Features:

• Maximum Reach & Working Range : KLAW-b extends up to 1 foot and operates within a 180-degree working range.
• Servo Rotation : Equipped with servos that allow up to 300 degrees of rotation, enhancing maneuverability.
• Payload Capacity : Can handle objects weighing up to 100 grams and grip widths of up to 5 cm, making it ideal for small components.
• Five Degrees of Freedom (DOF) : Enables a wide range of motion, allowing the arm to rotate and move in multiple directions for flexible handling.
• Manual Control Knobs : Users can directly adjust movements without software, making it easy for quick position changes and fine-tuning.
• Precision Control : High-performance servos ensure smooth, accurate movements for precise object placement.
• Sensor Integration : The gripper can automatically adjust grip strength with integrated sensors for secure handling of delicate or lightweight objects.
• Durable Construction : Built with aluminum for enhanced durability and long-term reliability in educational and practical applications.
• Two-Port Connection for Add-On Sensors : Additional ports support seamless integration of extra sensors for automation, object detection, and environmental feedback.

Structure and Components

KLAW-b consists of several key components that contribute to its movement and functionality. These include links, joints, a base, and an end effector. Each part is designed to enhance stability, flexibility, and precision in operation.

Links: The robotic arm features aluminum alloy links that connect different sections, providing structural support and flexibility. These links contribute to the arm’s reach and enable smooth movement.

Joints: KLAW-b’s joints function as pivot points, allowing the arm to bend and rotate with four degrees of freedom. The joints are powered by nylon-geared servos equipped with a clutch mechanism that helps prevent damage by slipping under excessive load.

Base: The base, constructed from aluminum alloy, provides stability during operation. It houses control knobs for manual adjustments, power supply connections, and additional plug-in interfaces for expandability.

End Effector (Gripper): The end effector serves as the gripping tool of KLAW-b, designed to pick up, hold, and move objects. Its structure is optimized for a secure grip, making it suitable for various handling tasks in educational and automation applications.

Hardware

1.Mechanical components

Construction and Materials:

KLAW-b’s frame is constructed from powder-coated aluminum alloy (AL5052), which provides a balance of strength and lightweight design. The material offers corrosion resistance and durability, contributing to the longevity of the robotic arm. The design allows for ease of maintenance while maintaining structural integrity.

Degree of freedom :

KLAW-b features five degrees of freedom (DOF), enabling precise and flexible movement:

• Base Servo : Rotates the arm around a vertical axis, allowing left and right movement.

• Shoulder Servo : Controls the primary lifting motion of the arm.

• Elbow Servo : Adjusts the mid-section for extension and retraction.

• Wrist Servo : Alters the end effector’s angle for accurate positioning.

• Gripper Servo : Operates the gripper for secure grasping and controlled release of objects.

Klaw’s end effector can be enhanced with add-ons, such as an actuator like electromagnets for pick-and-place tasks or a sensor such as a camera can be attached to expand Klaw’s capabilities for more complex operations.

Work Envelope and Payload Capacity

KLAW-b has a maximum reach of 1 foot and a working range of 180 degrees. The servos allow for rotation of up to 300 degrees, enhancing maneuverability. Klaw is designed to handle payloads of up to 100 grams and can grip objects with a width of up to 5 cm, making it suitable for manipulating small components

2. Electronic Components

Motherboard:

KLAW-b is equipped with a custom motherboard powered by the ESP32-S3 microcontroller. This processing unit facilitates communication between the robotic arm’s components and enables precise motion control. The Klaw Motherboard has 2 GPIO ports, 2 H-Bridge output ports, 6 Servo ports and POTs.

Features of Klaw’s Motherboard:

Category	Specification
PCB Name	Klaw Motherboard powered by PeeCee
Processor	ESP32-S3 Module
Memory	4MB flash memory
Connectivity	Bluetooth, USB (WiFi can be used but it is not compatible with plode app as of now )
Power Consumption	9V 3A (Adapter)
GPIO ports	2 (PORT A,PORT B)
Pins	2 H-Bridge outputs, 6 Servos, 6 POTs

Servos:

Klaw utilizes nylon-geared servos to power its movements. These servos are crucial for providing the precise and powerful movements needed for the robotic arm to function effectively. They are servos which have a clutch mechanism. Here are the detailed specifications and features of the servos used in Klaw:

• Torque: 6 kg-cm at 7V, providing sufficient force for object manipulation.

• Gear Type: Nylon-geared servos with an anti-slip clutch mechanism to minimize wear under excessive load.

• Control Method: Uses PWM (Pulse Width Modulation) for fine movement adjustments.

• Rotation Range: 300 degrees with a resolution of 0.01 degrees.

• Operating Voltage: 5V (maximum 7.5V).

Caution: These high capacity Servo motors have moving parts that can create pinch points. Fingers or other body parts caught between moving components can cause injury. Always ensure that hands and other body parts are kept away from moving parts while the servo is operating.

Specifications of Servo:

Specification	Details
Type	Digital Servo with Clutch
Quantity	5
Rated torque	0.55 kg·cm
Stall Torque	7.95 kg·cm
Pulse Width	50Hz (20ms period)
Control signal	1ms to 2ms
No-Load Current	≤ 60 mA at 5 V
Stall current	≤ 1.65A at 5 V
Gear Type	Nylon gears - Clutch based
Operating vol	5V (Maximum 7.5V)
Rotation Angle	300 degrees with 0.01 resolution
Dimensions	Length: 40.6 mm, Width: 20 mm, Height: 41.8 mm
Weight	45 grams

Power Specifications:

Klaw is powered by a 9V 3Ah Adaptor. It needs to be connected to a power source while working and does not have a Battery option.

Additional Plug-ins:

KLAW-b’s motherboard is designed to support additional plug-ins, allowing for expanded functionality. The system includes GPIO ports that enable the integration of ultrasonic sensors, LED indicators, displays, and other accessories to enhance interactive capabilities and enable advanced applications.

Interface and Software Connectivity

KLAW-b includes multiple interface options designed to support various operational modes and expandability. It features toggle switches for power and mode selection, a USB-C port for programming, AUX ports for external accessories, and a dedicated power input.

Power and Mode Selection Switches

• Power Switch (ON/OFF): Controls the main power supply to the device.

• Mode Selection Switch (AUTO/MANUAL): Allows users to switch between two operational modes:
  • Auto Mode : Connects to the Plode app via Bluetooth, enabling wireless control through a joystick, block-based programming, or Python scripting.
  • Manual Mode : Operates through hardware control knobs, allowing real-time manual adjustments without requiring external software.

Additional Interface Options

• USB-C Port for Programming : Enables connection to a computer for firmware updates, custom programming, and debugging.
• AUX Ports for External Accessories : Two AUX female jacks (AUX A and AUX B) support additional Yudu Robotics modules:
  • AUX A : Supports the AI 1 module and other Yudu Robotics accessories.
  • AUX B : Works with Yudu Robotics add-ons (except AI 1 module)
• Dedicated Power Input : Operates on a 9V, 3A power supply via a barrel jack connector, ensuring stable power delivery.
• Reboot Button : A dedicated push-button allows for system restarts. Holding the button for an extended period erases the uploaded code, resetting KLAW-b to its default configuration.
• DC Motor Ports : Two ports are available for connecting additional DC motors, allowing for customization and enhanced functionality.

Plode App:

Klaw can be controlled using the Plode app. This app provides a convenient way to manage Klaw’s movements and tasks, but it also adheres to the servo constraints, including angle limits, for safe and accurate operation.

There are different ways to use Klaw through the Plode app.

• Joystick option
• Block programming
• Python programming

Refer Plode for more information.

Usage and Applications

KLAW-b is a robotic arm designed for educational purposes, automation projects, and AI-driven applications. It features precise servo control, multiple operation modes, and integration with the Plode app, making it suitable for robotics and automation learning.

Target Users

KLAW-b is designed for users aged 12 and above, including:

• Teenagers (12-18): Used for learning STEM concepts, coding, and basic robotics.
• Young Adults (18-25): Suitable for university students, hobbyists, and makers working on robotics-related projects.

Basic Applications

• Pick and Place Automation: KLAW-b can be programmed to pick up and place objects in designated locations, simulating industrial automation processes such as warehouse management and assembly line operations.

• Sorting Mechanism: With integrated sensors, such as color or weight sensors, KLAW-b can classify and sort objects based on predefined characteristics, demonstrating automated quality control techniques.

• Joystick-Controlled Operation: KLAW-b can be manually controlled using a joystick module, making it suitable for teleoperation, robotics competitions, and simulation training.

• Bluetooth Remote Control: The Plode app enables wireless operation via Bluetooth, supporting remote pick-and-place tasks, customizable button mapping, and interactive learning experiences.

AI-Driven and Smart Automation

• Voice Command Control: KLAW-b can integrate with Plode’s voice recognition module to perform hands-free operations based on custom voice commands. This functionality is used in human-robot interaction and AI-based automation systems.

• Object Detection and Tracking: When equipped with a camera module through the Plode app, KLAW-b can recognize and track objects in real-time. This capability is applied in robotics competitions, manufacturing automation, and security applications.

• AI-Based Sorting and Classification: Using Plode’s vision processing and AI-based decision-making, KLAW-b can analyze objects and determine appropriate placements. This feature is relevant to AI-driven logistics, material handling, and automated retail operations.

• Educational Use in Robotics Learning: KLAW-b is used as a tool for teaching robotics, AI, and automation. By utilizing Python programming, block-based coding, and joystick controls, students can experiment with control algorithms and AI techniques in STEM education, research, and innovation projects.

Comparison with Similar Robotic Arms

KLAW-b is one of several robotic arms designed for educational and automation applications. It is comparable to other models in terms of degrees of freedom (DOF), control mechanisms, and expandability. Below is a comparison with three widely used educational robotic arms: MeArm, Dobot Magician, and uArm Swift Pro.

Names Klaw-b MeArm Dobot Magician uArm Swift Pro Degrees of Freedom (DOF) 5 DOF 4 DOF 4 DOF 4 DOF Construction Material Aluminum Alloy (AL5052) Acrylic and plastic Aluminum and plastic CNC-machined metal Control Mechanism Manual knobs, Bluetooth, Plode App, Python scripting Arduino-based, joystick or software control Wireless, wired control, AI integration Software-based, joystick, and gesture control End Effector Gripper (supports modular add-ons like electromagnets, cameras) Gripper Gripper, suction cup, 3D printing head Gripper, suction cup, pen holder Payload Capacity 100g 50g 500g 500g Rotation Range 300° ~180° 200° 180° Power Source 9V, 3A Adapter 4 AA batteries or external power supply DC Adapter (12V, 5A) 12V DC Adapter Programming Support Python, block-based coding (Plode App), manual control Arduino IDE, Scratch Python, Blockly, Dobot Studio Python, Arduino, ROS Primary Use Cases STEM education, automation, AIdriven sorting, object manipulation STEM learning, DIY robotics projects Industrial training, education, pickand-place automation STEM learning, lightweight automation

Comparison with Similar Robotic Arms

Names	Klaw-b	MeArm	Dobot Magician	uArm Swift Pro
Degrees of Freedom (DOF)	5 DOF	4 DOF	4 DOF	4 DOF
Construction Material	Aluminum Alloy (AL5052)	Acrylic and Plastic	Aluminum and Plastic	CNC-Machine Metal
Control Mechanism	Manual knobs, Bluetooth, Plode App, Python scripting	Arduino-based, joystick or software control	Wireless, wired control, AI integration	Software-based, joystick, and gesture control
End Effector	Gripper (supports modular add-ons like electromagnets, cameras)	Gripper	Gripper, suction cup, 3D printing head	Gripper, suction cup, pen holder
Payload Capacity	100g	50g	500g	500g
Rotation Range	300°	~180°	200°	180°
Power Source	9V, 3A Adapter	4 AA batteries or external power supply	DC Adapter (12V, 5A)	12V DC Adapter
Programming Support	Python, block-based coding (Plode App), manual control	Arduino IDE, Scratch	Python, Blockly, Dobot Studio	Python, Arduino, ROS
Primary Use Cases	STEM education, automation, AI-driven sorting, object manipulation	STEM learning, DIY robotics projects	Industrial training, Education, Pick-and-place automation	STEM learning, Lightweight automation

Key Differences:

• Degrees of Freedom: KLAW-b offers 5 DOF, whereas MeArm, Dobot Magician, and uArm Swift Pro have 4 DOF, providing slightly less flexibility in movement.
• Control Methods : Unlike MeArm, which relies primarily on Arduino-based controls, KLAW-b includes manual knobs, Bluetooth connectivity, and Python scripting via the Plode app, making it more adaptable.
• Payload and Strength : KLAW-b has a lower payload capacity (100g) compared to Dobot Magician and uArm Swift Pro (both at 500g), making it more suitable for lightweight educational tasks rather than industrial-level automation.
• Expandability : KLAW-b supports sensor integration and modular add-ons (e.g., electromagnets, cameras), a feature that is more advanced than MeArm but comparable to Dobot Magician and uArm Swift Pro.

Add-ON's

Ai-1 module

KLAW-B supports integration with the AI-1 module, an in-house development by Yudu Robotics, designed to enhance its capabilities for educational, research, and automation applications. This module introduces advanced features that improve interaction and adaptability, making it a versatile platform for exploring robotics, artificial intelligence, and automation in educational and industrial settings.

Key Features

• Face Recognition: Enables KLAW-B to identify and distinguish individuals, allowing for personalized automation and task execution.
• Face Detection & Tracking: Detects and follows faces within its environment, enabling dynamic interaction and automated movement based on user positioning.
• Color Detection & Tracking: Recognizes and tracks specific colors, making it suitable for applications such as object sorting, quality control, and interactive learning.

FAQs

1. What materials are used to construct Klaw?

Klaw is made from durable powder-coated aluminum alloy, which is corrosion-resistant, lightweight, and aesthetically appealing.

2. How many degrees of freedom does Klaw have?

Klaw has five degrees of freedom:

• Base Servo: Rotational movement around the vertical axis.
• Three Arm Servos: Extend or retract the arm, changing the position of different links.

3. What kind of servos does Klaw use?

Klaw uses nylon-geared servos with a clutch mechanism. These servos provide precise and powerful movements while reducing wear and tear under excess load.

4. What is the maximum payload Klaw can handle?

Klaw is designed to handle a maximum payload of 100 grams and can manage objects with a maximum size of 5cm width.

5. How is Klaw controlled?

Klaw can be controlled using:

• Hardware knobs located at its base.
• The Plode app, which offers joystick control, block programming, and Python programming.

6. What safety precautions should be taken when using Klaw?

Users should keep fingers and other body parts away from moving components to avoid injury. The servo motors have moving parts that can create pinch points.

7. Can Klaw be enhanced with add-ons?

Yes, Klaw's end effector can be enhanced with add-ons like electromagnets for pick-and-place tasks or sensors such as cameras for more complex operations.

8. What are the dimensions and weight of Klaw?

9. How do you connect and configure external plug-ins?

External plug-ins can be connected through the AUX jacks via GPIO A and B, positioned on either side of the base and can be configured with PLODE app. These ports enable the integration of additional sensors, modules, and accessories, enhancing the robotic arm’s functionality.

10. What kind of power supply is required for Klaw?

KLAW-b operates using a 9V, 3A DC adapter and does not include a built-in battery. This design ensures stable and consistent performance for extended usage without requiring recharging or battery replacement.

11. What is the maximum reach of Klaw's arm?

KLAW has a maximum reach of 1 foot (approximately 30 cm), allowing it to manipulate objects within a 180-degree working range. The servos enable a rotational movement of up to 300 degrees, enhancing its flexibility and maneuverability.

12. Are there any tutorials or support available for beginners?

KLAW-b is designed for both beginners and advanced users. It includes clear instructions and an intuitive app interface, enabling ease of use for individuals with varying levels of experience in robotics.

13. How is Klaw shipped, and what is included in the box?

KLAW is shipped with the KLAW-B robotic arm, a 9V 3A adapter, and a screwdriver for assembly and adjustments.

14. How do you update the firmware of Klaw?

KLAW-b’s firmware can be updated by connecting the device to a computer via a USB-C cable and accessing the Plode Firmware Update Tool.

15.What devices are compatible with KLAW-b?

KLAW-b supports Bluetooth® 5 (LE) connectivity and can pair with the Plode app on Android and iOS devices.