UFACTORY xArm

A budget collaborative robot-arm line from Shenzhen's UFACTORY, a common choice in research labs.

xArm is a line of lightweight collaborative robot arms from Shenzhen-based UFACTORY, using harmonic-drive gearboxes and servo motors at the joints, with built-in collision detection, at a price well below imported arms like Franka's or Universal Robots'. Per UFACTORY's site, the xArm 5, 6, and 7 have 5, 6, and 7 degrees of freedom respectively, all with a 700 mm reach, payloads of 3, 5, and 3.5 kg, and repeat positioning within ±0.1 mm; all three are listed starting at about $5,300. The entry-level Lite 6 has a 600 g payload and a 440 mm reach, while the xArm 850 has an 850 mm reach and a 5 kg payload. Because it has a Python SDK and ROS support and is cheap and durable, it's a common choice for university labs doing imitation learning and teleoperation data collection, and open-source teleoperation projects like GELLO offer an xArm-compatible version.

ExampleA lab uses a GELLO leader arm to teleoperate an xArm 7 and collect towel-folding demonstrations, then trains a diffusion policy to reproduce the task.

Also called

xArm6, xArm7, xArm5, Lite 6, xArm 850

Related

Collaborative Robot · 6-Axis Robot Arm · 7-DoF Robot Arm · Strain Wave Gear (Harmonic Drive) · GELLO · Franka Emika Panda / Franka Research 3

Sources

UFACTORY xArm 协作机械臂 (Chinese)

As of

2026-09