YAM
Based on published sources · Not tested by us ·
Overview
A family of six-axis YAM arms supported by a Python and CAN control library with revision-specific models. [S001]
The preserved I2RT release v1.3.6 is a Python control library, with models and examples for YAM hardware. Its six-axis variants map to these selectors: YAM (yam), YAM Pro (yam_pro), YAM Ultra (yam_ultra), YAM Ultra 2 (yam_ultra_2) and Big YAM (big_yam). Select through --arm or arm_type=; no_arm covers a gripper-only robot. Ultra 2 keeps Ultra's kinematics but changes link inertials and the joint-four motor; a shared shape is not enough to select the model. [S001] [S002]
Gripper selection is separate. The identifiers are crank_4310, linear_3507, linear_4310, flexible_4310, yam_teaching_handle and no_gripper; the last selects a bare terminal mount. Linear grippers require a closed starting position or calibration because motor travel exceeds one revolution. The documented host route uses Python 3.11, Linux dependencies and CAN at 1 Mbit/s. [S001]
Read the specification labels literally: arm mass excludes the gripper and tips, and chain length sums joint-origin translations rather than measuring reach. Neither should be copied into a complete-arm specification without its qualification. [S001]
The MIT license covers this software repository. A complete hardware manufacturing pack, its rights and a current configuration-specific price were not established here. No robot code was executed and no physical calibration or support workload was measured. [S003]
Specifications
| Detail | Description |
|---|---|
| Type | Six-axis articulated arm Editorial form classification from the inspected upstream overview. Editorial assessment [S001] · Checked 2026-09-30 |
| Intended users | Robot-learning developers integrating purchased YAM hardware Editorial assessment [S001] · Checked 2026-09-30 |
| Assembly | Not known |
| Calibration | Not known |
| Operating system | Not known |
| Computer needed | Not known |
Cost
No current, complete configuration-specific build cost has been established for this profile.
Source files and licenses
Available project sources support research coverage; complete build and commercial qualification remain separate.
| Layer | Availability / license |
|---|---|
| mechanical design | not found · License not fully assessed No complete artifact for this layer established in the inspected primary repository overview and archive inventory. External component/dependency sources require separate collection; this is not a claim of closed source. [S001] [S004] |
| electronics | not found · License not fully assessed No complete artifact for this layer established in the inspected primary repository overview and archive inventory. External component/dependency sources require separate collection; this is not a claim of closed source. [S001] [S004] |
| firmware | not found · License not fully assessed No complete artifact for this layer established in the inspected primary repository overview and archive inventory. External component/dependency sources require separate collection; this is not a claim of closed source. [S001] [S004] |
| software | available · MIT Python API and repository models; no complete hardware manufacturing license established. [S001] [S004] [S003] |
| documentation | available · MIT Repository instructions, not a complete manufacturing and assembly pack. [S001] [S004] [S003] |
This profile covers the described physical configuration and control route without a particular learned policy or dataset.
References
Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.
- S001 · i2rt-robotics / project contributors
Upstream project overview
Accessed 2026-09-30 · README.mdSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S002 · i2rt-robotics / project contributors
Repository revision and release metadata
Accessed 2026-09-30 · 120c3c81400171174604e503943f8d1ebc891058Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S003 · i2rt-robotics / project contributors
Repository license
Accessed 2026-09-30 · LICENSESource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S004 · i2rt-robotics / project contributors
Pinned repository artifact inventory
Accessed 2026-09-30 · 120c3c81400171174604e503943f8d1ebc891058 archive file inventorySource notes
Source text inspected for the cited scoped claims; see profile claim notes.
Correction guidance · Discussion is not enabled · Profile format 0.5.0-draft.1
Change history
September 29, 2026 — First research profile published.