moss-robot-arms Beta version 1.0.
A repository for affordable, easy-to-assemble robot arms designed for teleoperation applications. Note: This initial version arm uses the SO-100 Arm Gripper. Future iterations will have an off the shelf gripper.
Note: The follower and leader arm for this teleoperation setup will have the same off the shelf parts. If you plan on creating the classic teleoperation set up to be used with the LeRobot
library please buy from the Parts for 2 arms below. Note prices and items may vary slightly depending on geographic location.
/!\ Warning: We only have links for US and EU for now. If you find links for other countries, please create an issue or PR so that we add them to the list.
Part | Amount | Unit Cost (US) | Buy US | Unit Cost (EU) | Buy EU | |
---|---|---|---|---|---|---|
STS3215 Servo1 | 12 | $14 | Alibaba | 13€ | Alibaba | |
Motor Control Board | 2 | $5 | Waveshare - Amazon | 4€ | Waveshare-Amazon | |
Bracket Set | 18 | $3 | Alibaba | 2€ | Alibaba | |
USB-C Cable 2 pcs | 1 | $7 | Amazon | 7€ | Amazon | |
Power Supply2 | 2 | $10 | Amazon | 13€ | Amazon | |
Table Clamp 2pcs | 2 | $9 | Amazon | 8€ | Amazon | |
Lowstrength Threadlocker3 | 1 | $9 | Amazon | 11€ | Amazon | |
Screwdriver Set (includes Phillips #000, #00, #0, #1) | 1 | $6 | Amazon | 10€ | Amazon | |
Wrench4 | 1 | $5 | Amazon | 4€ | Amazon | |
Total | --- | $297 | --- | 274€ | --- |
Part | Amount | Unit Cost (US) | Buy US | Unit Cost (EU) | Buy EU |
---|---|---|---|---|---|
STS3215 Servo1 | 6 | $14 | Alibaba | 13€ | Alibaba |
Motor Control Board | 1 | $5 | Waveshare - Amazon | 4€ | Waveshare-Amazon |
Bracket Set | 9 | $3 | Alibaba | 2€ | Alibaba |
USB-C Cable 2 pcs | 1 | $7 | Amazon | 7€ | Amazon |
Power Supply2 | 1 | $10 | Amazon | 13€ | Amazon |
Table Clamp 2pcs | 1 | $9 | Amazon | 8€ | Amazon |
Lowstrength Threadlocker3 | 1 | $9 | Amazon | 11€ | Amazon |
Screwdriver Set (includes Phillips #000, #00, #0, #1) | 1 | $6 | Amazon | 10€ | Amazon |
Wrench4 | 1 | $5 | Amazon | 4€ | Amazon |
Total | --- | $163 | --- | 153€ | --- |
A variety of 3D printers are acceptable to print the parts necessary of the follower and leader arm. Follow the steps below to ensure a good print.
so_100_gripper_parts
, which are listed below.
Print_Follower_SO_ARM100_08k_Gripper.STL
Print_Leader_SO_ARM100_08k_Gripper.STL
Construct the leader and follower arms using the Assembly Video linked below. After you assemble the two arms from the video, power the leader and follower arm using the 5V power supplies. In addition, plug each arm into your computer using a USB-C cable.
TODO(jess-moss): Add assembly video.
While this robot can be programmed in a variety of manners, it is suggested to use with LeRobot.
Join the project for support and development on the discord server.
1: The STS3215 arm comes in two sizes. The 7.4V has a stall torque of 16.5kg.cm at 6V (and likely slightly less for a 5V power supply). The 12V version has a stall torque of 30kg.cm. While we found the 7.4V to be sufficient, if you would like more powerful motors you can buy the 12V version here. Note if you do this, you will also have to buy a 12V 5A+ power supply instead of a 5V one above, but all other components will remain the same.\ 2: IMPORTANT: If you buy the 12V STS3215 motors, you should buy the 12V 5A+ power supply instead of the 5V power supply provided. \ 3: While Loctite is not strictly necessary, it does help to ensure screws do not loosen overtime, and is recommended whenever you have a the M3 screw fastening into the M3 nut. You only need a small dot of it. \ 4: You can either use a 5.5mm or 7/32" wrench, as they are both compatible with the M3 nuts. In a pinch you can also use needle-nose or other pliers but a wrench does help with assembly.