YAM Arm Series
✓ Python SDK✓ MuJoCo Sim✓ Gravity Compensation✓ Teleoperation
YAM (Yet Another Manipulator) is I2RT's flagship robotic arm — a 6-DOF, CAN bus–driven manipulator designed for real-world research and embodied AI data collection. The YAM family spans four tiers to match different reach, payload, and budget requirements.
Model Overview
| Model | Price | Notes |
|---|---|---|
| YAM | $2,999 | Standard research arm |
| YAM Pro | $3,499 | Enhanced actuators |
| YAM Ultra | $4,299 | Highest spec standard arm |
| BIG YAM | $4,999 | Larger reach and payload |
| YAM Leader | $2,999 | Teaching handle for teleoperation |
Specifications
| Parameter | Value |
|---|---|
| Degrees of Freedom | 6 |
| Communication | CAN bus (1 Mbit/s) |
| Motor Series | DM series brushless |
| Control Modes | Joint position PD · Gravity compensation · Zero-gravity |
| Simulation | MuJoCo (MJCF + URDF provided) |
| Safety | 400 ms motor timeout (configurable) |
| Mounting | Table-top (standard) |
Grippers
YAM supports four interchangeable end effectors:
| Gripper | Description |
|---|---|
crank_4310 | Zero-linkage crank design — minimizes total gripper width for tight workspaces. |
linear_3507 | Lightweight linear gripper with DM3507 motor. Requires starting in the closed position for calibration. |
linear_4310 | Linear gripper with the heavier DM4310 motor. Marginally more gripping force. |
yam_teaching_handle | Leader arm handle with a trigger for gripper and two programmable buttons. Used for teleoperation. |
flexpoint_4310 | Adaptive compliant gripper engineered for extreme-condition grasping — conforms to irregular, fragile, and complex geometries where rigid grippers fail. |
3D Model
The YAM URDF and MuJoCo XML are included in the repository:
i2rt/robot_models/arm/yam/
├── yam.urdf
├── yam.xml
└── assets/ # STL meshes (visual + collision)Videos
Video — Coming Soon
YAM arm performing a pick-and-place task on a cluttered tabletop. Close-up of gripper engagement. 30–60 seconds.
Getting Started
- Install the SDK
- Set up CAN bus
- See YAM Arm API for the full Python reference
- Try the Quick Start
python
from i2rt.robots.motor_chain_robot import get_yam_robot
import numpy as np
# Connect to the arm (zero-gravity mode on by default)
robot = get_yam_robot(channel="can0", zero_gravity_mode=True)
# Read current joint positions
joints = robot.get_joint_pos() # shape: (6,) radians
# Command a target configuration
robot.command_joint_pos(np.zeros(6))Where to Buy
Visit i2rt.com or contact sales@i2rt.com.