Leader arm · Step 15 of 26 · L-040

Fit both horns on motor 4 (wrist flex)

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Do this

Take the motor you labelled 4.
src
- servos.yaml · leader/wrist_flex — ID 4 · STS3215 1:147 · Feetech STS3215 servo, 7.4V, 1:147 gear (C046)
- F-002 · check — Each motor answers on its own ID 1–6, bottom joint = 1, gripper = 6; leader and follower motors are labelled and kept apart.
Push the geared
horn
Horn. The metal disc that fits on the end of a motor; printed parts screw onto it. Each motor ships with two, one with gear teeth around its edge for the driven end and one plain disc for the other end.Source: waveshare.com · lerobot/docs/source/so101.mdx#joint-1
onto the
output shaft
Output shaft. The end of the motor that turns. It has a short grooved stub; the geared horn pushes onto it and is held by one M3x6 screw.Source: mantech.co.za · lerobot/docs/source/so101.mdx#joint-1
and hold it with one
M3x6 screw.
M3x6. A screw size. M3 means a 3 mm thread, 6 means 6 mm long. It has a machine thread and goes into the threaded holes of a horn; the same size holds each printed part to its horn.Source: mantech.co.za · lerobot/docs/source/so101.mdx#joint-1
src
- check — Geared horn retained by its M3x6; plain horn on the other side without a screw.
- lerobot/docs/source/so101.mdx#joint-4
Push the plain horn onto the other end. It gets no screw.
src
- check — Geared horn retained by its M3x6; plain horn on the other side without a screw.

Done when Geared horn held by its screw; plain horn on the other end without one.

Upstream numbers the follower's steps; this leader step is the same build step (extends F-040).

Check: Geared horn retained by its M3x6; plain horn on the other side without a screw.

Motor slot: wrist_flex · ID 4 · STS3215 1:147 · 7.4V servo on a 5V supply;

Motor 4 · wrist flex

The motor you labelled 4: STS3215 motor,

1:147

Gear ratio. The number on the motor's label, such as 1:345. The motor inside turns 345 times for one turn of the output. The follower arm uses 1:345 at all six joints. The leader arm mixes 1:191, 1:345 and 1:147, so check the label before fitting a motor.Source: lerobot/docs/source/so101.mdx#step-by-step-assembly-instructions · SO-ARM100/README.md#sourcing-parts

gear, code C046. details

You need

STS3215 motor, 1:147 gear, code C046Feetech STS3215 servo, 7.4V, 1:147 gear (C046) servo-sts3215-c046-147
approximation3D stand-in
Stand-in shape: the 3D geometry or placement is not measured from the real part.
Geometry: the upstream repo's own simplified body STEP/SO100/STS3215_03a.step (Apache-2.0, D-007) with its fused horn plates cut off and the datasheet ø6 x 3.4 boss added, posed on the embedded vendor model's transform; the vendor mesh is not redistributed.
details
Horn with gear teeth (drive end)Servo horn, geared (drive side) servo-horn-geared
approximation3D stand-in
Stand-in shape: the 3D geometry or placement is not measured from the real part.
Ships with the servo. "Each servo is equipped with two steering wheels, one with gears and the other without" (Waveshare). Qty = one per servo for two arms. Geometry: drawn from the datasheet Accessories drawing: ø19.95 plate 2.5 thick, ø9 hub to 4.5 overall, ø3.2 centre bore, 4-M3 on ø14; the plate outline is drawn as the circle (the drawing shows a polygon whose side count is not dimensioned) and the 25T spline is not modelled. Placed on the embedded vendor horn's transform; the vendor mesh is not redistributed.
details
Horn without teeth (idle end)Servo horn, plain (idle side) servo-horn-plain
approximation3D stand-in
Stand-in shape: the 3D geometry or placement is not measured from the real part.
Ships with the servo. Not fitted on motor 5 (one horn only) on either arm, hence 10 for two arms. Geometry: drawn from the datasheet Accessories drawing: ø19.95 plate 2.1 thick, ø9 hub to 3.1 overall, ø6.05 centre bore, 4-M3 on ø14; outline drawn as the circle. Placed on the embedded vendor horn's transform; the vendor mesh is not redistributed.
details
M3x6 screwM3x6 screw m3x6 ×1 details
Phillips screwdriver #0 · PH0 tool details
Phillips screwdriver #1 · PH1 tool details

Sources (1)

Upstream numbers the follower's steps; this leader step is the same build step (extends F-040).

lerobot/docs/source/so101.mdx#joint-4