Kitsmith SO-101
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Follower arm assembly

26 steps in the order of the LeRobot SO-101 page, grouped by motor. Each step says what you need, what to do, and what "done" looks like.

Start at step 1 →

Steps

Prep Before you build

  1. F-001 Clean the printed parts do first
  2. F-002 Set motor IDs and baud rate do first
  3. F-003 Plug a cable into each motor do first

1 Motor 1 · shoulder pan

  1. F-010 Fit both horns on motor 1
  2. F-011 Seat motor 1 in the base
  3. F-012 Slide the motor holder over motor 1
  4. F-013 Attach the shoulder to motor 1
  5. F-014 Add the shoulder motor holder

2 Motor 2 · shoulder lift

  1. F-020 Fit both horns on motor 2
  2. F-021 Slide in motor 2 and fasten
  3. F-022 Attach the upper arm to motor 2

3 Motor 3 · elbow flex

  1. F-030 Fit both horns on motor 3
  2. F-031 Insert motor 3 into the upper arm
  3. F-032 Connect the forearm to motor 3

4 Motor 4 · wrist flex

  1. F-040 Fit both horns on motor 4
  2. F-041 Slide motor holder 4 onto the forearm
  3. F-042 Slide in motor 4 and fasten

5 Motor 5 · wrist roll

  1. F-050 Insert motor 5 into the wrist holder
  2. F-051 Fit one horn on motor 5
  3. F-052 Secure the wrist to motor 4

6 Motor 6 · gripper

  1. F-060 Attach the gripper body to motor 5
  2. F-061 Insert the gripper motor
  3. F-062 Fit both horns on the gripper motor
  4. F-063 Install the gripper claw

End Board and cables

  1. F-070 Mount the board on the base
  2. F-071 Daisy-chain the cables to the board

Servos for this arm
IDJointGear ratioServoSupply
1shoulder pan1:345servo-sts3215-c001-3457.4V → 5V / 12V → 12V 5A+
2shoulder lift1:345servo-sts3215-c001-3457.4V → 5V / 12V → 12V 5A+
3elbow flex1:345servo-sts3215-c001-3457.4V → 5V / 12V → 12V 5A+
4wrist flex1:345servo-sts3215-c001-3457.4V → 5V / 12V → 12V 5A+
5wrist roll1:345servo-sts3215-c001-3457.4V → 5V / 12V → 12V 5A+
6gripper1:345servo-sts3215-c001-3457.4V → 5V / 12V → 12V 5A+