Post
4,324
A step-by-step guide to assembling the SO-ARM101 Follower Arm, from parts to a pick-up test.
https://youtu.be/EhWyX_KcCuk
https://youtu.be/EhWyX_KcCuk
Nikita Bragin PRO
branikita
AI & ML interests
Founder of Robonine. Robotics for research and education
Recent Activity
reacted to theirpost with ๐ฅ 4 days ago
A step-by-step guide to assembling the SO-ARM101 Follower Arm, from parts to a pick-up test.
https://youtu.be/EhWyX_KcCuk repliedto their post 11 days ago
SO-ARM 101 vs SO-ARM 102: stiffness
Same rig, same 300 g hanging from the gripper, dial indicator in the same spot.
โข SO-ARM 101 โ 7.5 mm
โข SO-ARM 102 โ 3.9 mm
About half the deflection. Both arms are built with printed servo dummies, so this is the structure being compared, not the motors. Parts printed at 25 % infill.Organizations
reacted to their post with ๐ฅ 4 days ago
posted an update 4 days ago
Post
4,324
A step-by-step guide to assembling the SO-ARM101 Follower Arm, from parts to a pick-up test.
https://youtu.be/EhWyX_KcCuk
https://youtu.be/EhWyX_KcCuk
replied to their post 11 days ago
replied to their post 11 days ago
replied to their post 11 days ago
reacted to their post with ๐ฅ 13 days ago
Post
57
Robonine has published the SO-ARM102 repository on GitHub.
It includes CAD files, printable parts, a bill of materials, and assembly instructions for the LeRobot-compatible leaderโfollower arms.
If you build one, weโd appreciate feedback and issue reports.
https://github.com/roboninecom/SO-ARM-102
It includes CAD files, printable parts, a bill of materials, and assembly instructions for the LeRobot-compatible leaderโfollower arms.
If you build one, weโd appreciate feedback and issue reports.
https://github.com/roboninecom/SO-ARM-102
posted an update 13 days ago
Post
57
Robonine has published the SO-ARM102 repository on GitHub.
It includes CAD files, printable parts, a bill of materials, and assembly instructions for the LeRobot-compatible leaderโfollower arms.
If you build one, weโd appreciate feedback and issue reports.
https://github.com/roboninecom/SO-ARM-102
It includes CAD files, printable parts, a bill of materials, and assembly instructions for the LeRobot-compatible leaderโfollower arms.
If you build one, weโd appreciate feedback and issue reports.
https://github.com/roboninecom/SO-ARM-102
liked a
Space about 1 month ago
reacted to their post with ๐ฅ about 1 month ago
Post
105
SO-ARM 101 vs SO-ARM 102: stiffness
Same rig, same 300 g hanging from the gripper, dial indicator in the same spot.
โข SO-ARM 101 โ 7.5 mm
โข SO-ARM 102 โ 3.9 mm
About half the deflection. Both arms are built with printed servo dummies, so this is the structure being compared, not the motors. Parts printed at 25 % infill.
Same rig, same 300 g hanging from the gripper, dial indicator in the same spot.
โข SO-ARM 101 โ 7.5 mm
โข SO-ARM 102 โ 3.9 mm
About half the deflection. Both arms are built with printed servo dummies, so this is the structure being compared, not the motors. Parts printed at 25 % infill.
- 1 reply
posted an update about 1 month ago
Post
105
SO-ARM 101 vs SO-ARM 102: stiffness
Same rig, same 300 g hanging from the gripper, dial indicator in the same spot.
โข SO-ARM 101 โ 7.5 mm
โข SO-ARM 102 โ 3.9 mm
About half the deflection. Both arms are built with printed servo dummies, so this is the structure being compared, not the motors. Parts printed at 25 % infill.
Same rig, same 300 g hanging from the gripper, dial indicator in the same spot.
โข SO-ARM 101 โ 7.5 mm
โข SO-ARM 102 โ 3.9 mm
About half the deflection. Both arms are built with printed servo dummies, so this is the structure being compared, not the motors. Parts printed at 25 % infill.
- 1 reply
reacted to their post with ๐ฅ about 2 months ago
Post
2,263
SO-ARM 102 goes open source in the next few weeks.
What's new:
- A parallel gripper: the jaws stay parallel through the whole stroke instead of pivoting around the object as they close.
- PET-CF instead of PLA+ for a much stiffer frame.
- A topology-optimized structure.
- Wider joint rotation and folding range.
- STS3250 servos on the first shoulder joint.
Compared with the SO-ARM 101, that adds up to 2.5x the payload, roughly 2x better positioning accuracy, roughly 1.6x the movement speed, and about 36 mm more reach.
It runs on Hugging Face LeRobot, so the same tooling, training pipeline and tutorials for the SO-ARM 101 work on it from day one.
What's new:
- A parallel gripper: the jaws stay parallel through the whole stroke instead of pivoting around the object as they close.
- PET-CF instead of PLA+ for a much stiffer frame.
- A topology-optimized structure.
- Wider joint rotation and folding range.
- STS3250 servos on the first shoulder joint.
Compared with the SO-ARM 101, that adds up to 2.5x the payload, roughly 2x better positioning accuracy, roughly 1.6x the movement speed, and about 36 mm more reach.
It runs on Hugging Face LeRobot, so the same tooling, training pipeline and tutorials for the SO-ARM 101 work on it from day one.
- 3 replies
posted an update about 2 months ago
Post
2,263
SO-ARM 102 goes open source in the next few weeks.
What's new:
- A parallel gripper: the jaws stay parallel through the whole stroke instead of pivoting around the object as they close.
- PET-CF instead of PLA+ for a much stiffer frame.
- A topology-optimized structure.
- Wider joint rotation and folding range.
- STS3250 servos on the first shoulder joint.
Compared with the SO-ARM 101, that adds up to 2.5x the payload, roughly 2x better positioning accuracy, roughly 1.6x the movement speed, and about 36 mm more reach.
It runs on Hugging Face LeRobot, so the same tooling, training pipeline and tutorials for the SO-ARM 101 work on it from day one.
What's new:
- A parallel gripper: the jaws stay parallel through the whole stroke instead of pivoting around the object as they close.
- PET-CF instead of PLA+ for a much stiffer frame.
- A topology-optimized structure.
- Wider joint rotation and folding range.
- STS3250 servos on the first shoulder joint.
Compared with the SO-ARM 101, that adds up to 2.5x the payload, roughly 2x better positioning accuracy, roughly 1.6x the movement speed, and about 36 mm more reach.
It runs on Hugging Face LeRobot, so the same tooling, training pipeline and tutorials for the SO-ARM 101 work on it from day one.
- 3 replies
replied to their post about 2 months ago
We are still testing it. I think we will be ready to pusblish it within the next few weeks.
reacted to their post with ๐ 6 months ago
Post
234
Hackernoon published our article on how semi-SCARA kinematics and mechanical design choices reduce the cost of a 6DOF manipulator without relying on expensive actuators.
https://hackernoon.com/building-a-budget-robot-arm-with-semi-scara-kinematics
https://hackernoon.com/building-a-budget-robot-arm-with-semi-scara-kinematics
posted an update 6 months ago
Post
234
Hackernoon published our article on how semi-SCARA kinematics and mechanical design choices reduce the cost of a 6DOF manipulator without relying on expensive actuators.
https://hackernoon.com/building-a-budget-robot-arm-with-semi-scara-kinematics
https://hackernoon.com/building-a-budget-robot-arm-with-semi-scara-kinematics
reacted to their post with ๐ฅ 6 months ago
Post
1,587
Our paper is now published in HardwareX!
"An open-source test stand for backlash measurement in low-cost UART servo motors" presents a ~$100 automated platform for measuring backlash in compact serial bus servos โ no dial indicators, no probe contact force, fully scripted and repeatable.
All CAD files, control software, and analysis tools are open source.
Read the full article: https://www.hardware-x.com/article/S2468-0672(26)00027-1/fulltext
Appearing in HardwareX Volume 26 (June 2026): https://www.sciencedirect.com/journal/hardwarex/vol/26/suppl/Cf
"An open-source test stand for backlash measurement in low-cost UART servo motors" presents a ~$100 automated platform for measuring backlash in compact serial bus servos โ no dial indicators, no probe contact force, fully scripted and repeatable.
All CAD files, control software, and analysis tools are open source.
Read the full article: https://www.hardware-x.com/article/S2468-0672(26)00027-1/fulltext
Appearing in HardwareX Volume 26 (June 2026): https://www.sciencedirect.com/journal/hardwarex/vol/26/suppl/Cf
posted an update 6 months ago
Post
1,587
Our paper is now published in HardwareX!
"An open-source test stand for backlash measurement in low-cost UART servo motors" presents a ~$100 automated platform for measuring backlash in compact serial bus servos โ no dial indicators, no probe contact force, fully scripted and repeatable.
All CAD files, control software, and analysis tools are open source.
Read the full article: https://www.hardware-x.com/article/S2468-0672(26)00027-1/fulltext
Appearing in HardwareX Volume 26 (June 2026): https://www.sciencedirect.com/journal/hardwarex/vol/26/suppl/Cf
"An open-source test stand for backlash measurement in low-cost UART servo motors" presents a ~$100 automated platform for measuring backlash in compact serial bus servos โ no dial indicators, no probe contact force, fully scripted and repeatable.
All CAD files, control software, and analysis tools are open source.
Read the full article: https://www.hardware-x.com/article/S2468-0672(26)00027-1/fulltext
Appearing in HardwareX Volume 26 (June 2026): https://www.sciencedirect.com/journal/hardwarex/vol/26/suppl/Cf
reacted to their post with ๐ 6 months ago
Post
2,602
We added multi-simulator support for our parallel gripper on the SO-ARM 100/101 arm. One URDF, one launch file, five physics engines: Gazebo, MuJoCo, Webots, CoppeliaSim, Isaac Sim.
The ROS2 package includes xacro descriptions, joint trajectory controllers, robot state publisher, and parameterized hardware interfaces for each simulator.
https://github.com/roboninecom/SO-ARM100-101-Parallel-Gripper
The ROS2 package includes xacro descriptions, joint trajectory controllers, robot state publisher, and parameterized hardware interfaces for each simulator.
https://github.com/roboninecom/SO-ARM100-101-Parallel-Gripper
posted an update 6 months ago
Post
2,602
We added multi-simulator support for our parallel gripper on the SO-ARM 100/101 arm. One URDF, one launch file, five physics engines: Gazebo, MuJoCo, Webots, CoppeliaSim, Isaac Sim.
The ROS2 package includes xacro descriptions, joint trajectory controllers, robot state publisher, and parameterized hardware interfaces for each simulator.
https://github.com/roboninecom/SO-ARM100-101-Parallel-Gripper
The ROS2 package includes xacro descriptions, joint trajectory controllers, robot state publisher, and parameterized hardware interfaces for each simulator.
https://github.com/roboninecom/SO-ARM100-101-Parallel-Gripper
reacted to their post with ๐ฅ 7 months ago
Post
3,096
We have received the majority of components for our first small commercial batch of SO-ARM101 robotic arms. Feetech STS3250 servo drives, parallel gripper, and depth camera.
- 1 reply