Kitsmith SO-101
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Leader 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. L-001 Clean the printed parts do first
  2. L-002 Set motor IDs and baud rate do first
  3. L-003 Plug a cable into each motor do first

1 Motor 1 · shoulder pan

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

2 Motor 2 · shoulder lift

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

3 Motor 3 · elbow flex

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

4 Motor 4 · wrist flex

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

5 Motor 5 · wrist roll

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

6 Motor 6 · gripper

  1. L-060 Mount the leader holder on the wrist unverifiedno source yet
  2. L-061 Attach the handle to the leader holder approximation3D stand-in
  3. L-062 Insert the gripper motor and horn unverifiedno source yet
  4. L-063 Attach the trigger approximation3D stand-in

End Board and cables

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

Servos for this arm
IDJointGear ratioServoSupply
1shoulder pan1:191servo-sts3215-c044-1917.4V → 5V
2shoulder lift1:345servo-sts3215-c001-3457.4V → 5V
3elbow flex1:191servo-sts3215-c044-1917.4V → 5V
4wrist flex1:147servo-sts3215-c046-1477.4V → 5V
5wrist roll1:147servo-sts3215-c046-1477.4V → 5V
6gripper1:147servo-sts3215-c046-1477.4V → 5V