- SKU:
- BARCODE:
6-DOF Robotic Arm with STM32 Controller & Kinematics Tutorials-LSA130
- 100% Open-Source Code
- Professional Technical Support
- Comprehensive Development Resources
- For bulk orders, institutional procurement, or corporate purchasing, please contact us for a formal quotation and procurement support.
The LSA130 is a compact 6-DOF desktop robotic arm for robotics education, kinematics experiments, embedded control development, and small-object manipulation. It combines high-torque digital servos, an STM32-based C06B controller, joint and Cartesian coordinate control, forward/inverse kinematics resources, and CAN/serial development interfaces in a research-friendly platform.
- 6 degrees of freedom with a 270° first joint and 180° travel on the remaining five servo joints.
- S20F high-torque digital servos with metal gears and up to 23 kg·cm rated torque at 6.5 V.
- C06B controller based on the STM32F103C8T6 microcontroller.
- Supports joint control and Cartesian coordinate control with forward and inverse kinematics learning resources.
- CAN, serial/UART, Bluetooth control interface, PS2 gamepad interface, SWD programming, and USB/serial program download support.
- 200–300 g rated gripping load for lightweight manipulation experiments.
- 0.96-inch OLED display and onboard PID control resources for secondary development.
- Video tutorials, development notes, schematics, source-code resources, and kinematics examples are provided for learning and prototyping.
Product Overview
The LSA130 is designed as a hands-on robotic arm platform for studying manipulator motion, servo control, coordinate systems, and embedded robot control. Its six servo-driven joints provide a useful desktop-scale workspace for teaching and experimentation without requiring an industrial robot cell.
The C06B controller uses an STM32F103C8T6 MCU and supports up to eight PWM servo channels. The controller exposes CAN, serial communication, Bluetooth control, a PS2 gamepad interface, SWD programming, an OLED display interface, and USB/serial program download functions. This makes the platform suitable for users who want to work below the application layer and study the relationship between motion planning, kinematics, servo commands, and embedded control.
Forward and inverse kinematics materials are included in the development resources. The documentation shown for this platform covers D-H parameter modeling, coordinate-frame construction, forward kinematics, inverse kinematics, simulation, PID servo control, controller hardware, and example program implementation.
Key Features
6-DOF Desktop Manipulator
Six servo joints provide a practical platform for studying multi-joint robot motion. The first joint uses a 270° servo for a wider base rotation range, while the other five joints use 180° servos.
High-Torque Metal-Gear Servos
The arm uses S20F digital servos with metal gears. Rated torque is 20 kg·cm at 5 V and 23 kg·cm at 6.5 V, with a specified response speed of 0.18 s/60° at 5 V.
Joint and Cartesian Coordinate Control
The platform supports both joint-based control and coordinate control. The provided teaching materials cover forward and inverse kinematics so users can connect mathematical manipulator models with real joint motion.
STM32-Based C06B Controller
The C06B controller is based on the STM32F103C8T6 and supports up to eight PWM servo channels. It also includes user buttons, a reset button, buzzer support, an LED, an OLED interface, and multiple communication/programming interfaces for embedded development.
Development-Oriented Documentation
Development resources shown for the A130 include source-code folders, tutorials, schematics, software/driver resources, chip datasheets, video lessons, user documentation, and manipulator kinematics examples. The materials are intended to support secondary development rather than only basic assembly.
Optional Flexible Gripper
An optional flexible mechanical gripper is available for handling objects with different shapes. The flexible mechanical gripper provides an opening range of up to 84 mm, with mechanical adjustment available through the gripper mounting positions.
Technical Specifications
| Parameter | Specification |
|---|---|
| Product type | 6-DOF robotic arm |
| Model | LSA130 |
| Degrees of freedom | 6 |
| Base plate material | Metal |
| Servo model | S20F high-torque digital servo |
| Arm weight | 1.2 kg, excluding electronic controller |
| Rated gripping load | 200–300 g |
| Power input | 12 V DC |
| Controller | C06B, STM32F103C8T6 |
| PWM servo channels | Up to 8 channels |
| Display | 0.96-inch OLED |
| Program download | Serial one-click download or SWD |
| Reserved serial port | 1 channel |
| User button | 1 |
| Onboard LED | 1 |
| Base joint travel | 270° |
| Other five joints | 180° servo travel |
| Overall height | Approx. 484 mm |
| Base footprint | Approx. 275 × 160 mm |
S20F Servo Specifications
| Parameter | Specification |
|---|---|
| Gear type | Metal gears |
| Operating voltage | 5–6.5 V |
| Servo weight | 62 g |
| Rated torque | 20 kg·cm at 5 V; 23 kg·cm at 6.5 V |
| Response speed | 0.18 s/60° at 5 V |
| Maximum angle | 180° / 270° |
| Standby current | 4 mA at 5 V |
| Stall current | 1.8 A at 5 V |
| Deadband | 4 μs |
Applications
Robotics Education and Laboratory Teaching
Use the A130 to demonstrate manipulator joints, coordinate frames, servo control, PID concepts, and basic robotic arm programming in university, polytechnic, or training-lab courses.
Forward and Inverse Kinematics Experiments
The included D-H parameter and kinematics materials make the arm suitable for experiments involving coordinate-system definition, forward kinematics, inverse kinematics, and model-to-hardware validation.
Embedded Control Development
The STM32 controller, CAN interface, serial communication, SWD programming, OLED interface, and PWM servo outputs provide a practical platform for embedded robotics development and controller experiments.
Lightweight Pick-and-Place Prototyping
With a specified gripping load of 200–300 g, the arm can be used for small-object manipulation, desktop pick-and-place demonstrations, and basic grasping experiments.
Robotic Gripper and Manipulation Research
The optional flexible gripper provides a configurable end-effector for experiments involving object grasping, opening-width adjustment, and simple manipulation tasks.
Software & Development Support
Development resources for learning and secondary development include manipulator source code, user tutorials, video lessons, schematics, STM32F103 technical documentation, software/driver folders, chip datasheets, and development notes.
- Forward kinematics tutorials using D-H parameters.
- Inverse kinematics tutorials and simulation examples.
- Servo PID control learning materials.
- Controller schematics and STM32-related technical documentation.
- Serial one-click program download and SWD programming.
- Video lessons covering hardware, servo control, kinematics, and example implementation.
Integration / Interfaces
| Interface / Function | Use |
|---|---|
| PWM servo headers | Up to 8 servo channels |
| CAN | Controller communication / secondary development |
| Serial / UART | Host communication and serial program download; one additional serial channel is reserved |
| SWD | Firmware programming and debugging |
| Bluetooth interface | Wireless control interface |
| PS2 gamepad interface | Wireless handheld control through the reserved receiver socket |
| OLED interface | 0.96-inch OLED display |
What's Included
The standard configuration includes the LSA130 robotic arm, C06B controller, 0.96-inch OLED display, PS2 wireless gamepad, and 12 V power adapter.
Need Help Selecting or Integrating the LSA130?
Contact LucSys Robotics with your application, control method, payload, required interface, gripper needs, and development goals. We can help confirm whether the A130 is suitable for your robotics course, research setup, manipulation experiment, or embedded control project.
How many degrees of freedom does the A130 robotic arm have?
It has 6 degrees of freedom. The first joint uses a 270° servo, while the remaining five joints use 180° servos.
What is the rated gripping load?
The specified gripping load is 200–300 g.
What controller does the arm use?
The A130 uses the C06B controller built around the STM32F103C8T6 microcontroller.
Can it control more than six servos?
The controller supports up to eight PWM servo channels.
Does the A130 support forward and inverse kinematics?
Yes. The provided learning materials cover both forward and inverse kinematics, including D-H parameter modeling, coordinate-frame construction, and simulation examples.
Can I control the arm in Cartesian coordinates?
Yes. The platform supports both joint control and coordinate control.
What communication interfaces are available?
The controller provides CAN, serial/UART, Bluetooth control, a PS2 gamepad interface, and SWD programming. Serial communication is also used for one-click program download and host communication.
What development resources are provided?
The materials shown for this product include source-code resources, user and development documentation, schematics, software/driver folders, chip datasheets, video lessons, PID control tutorials, and forward/inverse kinematics examples.
Is the flexible gripper included?
The flexible mechanical gripper is listed as an optional accessory in the supplied product information.
What power supply does the robotic arm use?
The product uses a 12 V DC power adapter.
Is the A130 suitable for robotics education and research?
Yes. Its STM32 controller, open development resources, kinematics tutorials, servo interfaces, and desktop-scale manipulator structure make it suitable for teaching, coursework, algorithm experiments, and embedded robotics development.
1. Free Shipping Policy
We offer free standard shipping on orders.
2. Customs & Import Fees
All international shipments are subject to local customs regulations. Import duties, taxes, or other fees may be charged by your country's customs authority upon arrival.
Our shipping terms are based on Ex-Works (EXW) or FCA (Origin), which means any import duties, taxes, or local customs fees are the sole responsibility of the customer. While our carriers provide basic assistance with the clearance process, we are not responsible for delays or costs imposed by your local authorities.
Important: If a package is returned to us due to unpaid customs duties or a refusal to clear customs, any original shipping fees, return shipping costs, and related handling charges will be deducted from your refund.
3. Order Processing Time
Orders are typically processed within 48 hours after placement and shipped the next business day.
Orders placed on weekends or public holidays will be shipped on the next working day.
Once shipped, you will receive a confirmation email with tracking information.