m2x6 | M2x6 screw | 1 | Handle to leader holder (LeRobot: "1 M2x6mm screw").notesOnly the handle screw keeps this id. Motor-to-bracket screws are motor-tab-screw (D-001, open). Its hole is known: Handle_SO101.step and Wrist_Roll_SO101.step share one authoring frame, and the handle's single r=1.1 (M2 clearance) hole lies on the axis of an r=0.6 pilot hole in the holder (D-005). Sources (3) - lerobot/docs/source/so101.mdx#gripper--handle — Leader: "Attach the handle to the leader holder using 1 M2x6mm screw."
- SO-ARM100/STEP/SO101/Leader_Specific/Handle_SO101.step — r=1.1 hole from (-24.86, 0, 39.21) to (-27.26, 0, 40.0), axis (-0.951, 0, 0.309)
- SO-ARM100/STEP/SO101/Leader_Specific/Wrist_Roll_SO101.step — r=0.6 pilot hole from (-25.69, 0, 39.49) to (-17.75, 0, 36.91) on the same axis, same frame
|
motor-tab-screw unverifiedno source yet | Motor-tab screw, M2-class self-tapping | 45 | Servo body to printed brackets: 4 per motor, 2 for motor 5 (22 per arm), plus the two that hold the base motor holder to the base (LeRobot "one on each side"; they thread into the base, not the servo). 24 per arm.notesSources disagree and no kit has been measured (D-001, open). Upstream default = the assembly STEP, which models 24 positions per arm: 22 x "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB" (≈ ø1.9 x 4.8 mm) and, for the two screws that enter motor 1 from above, 2 x "0-48 x 0.1875" (≈ ø1.5 x 4.8 mm). Vendor/doc variants: LeRobot "M2x6mm screws (smallest screws)"; Waveshare "pointed screws". The Feetech datasheet gives no tab screw and ships "No Accessories". Qty = count used across the LeRobot steps (24 + 21 positions); a kit inventory settles the spec and count. Seating per screw is read from the STEP by the pipeline (shank through a hole of which printed part) and drives what the 3D view shows at each step. Sources (4) |
m3x6 | M3x6 screw | 96 | Horn retaining screw (one per driven horn) and printed part to servo horn.notesQty = count used across the LeRobot steps (follower 50 + leader 46). Horn screw confirmed by the Feetech datasheet drawing ("M3X6 machine-thread screw" at the 25T output). The assembly STEP models 45 "DIN EN ISO 7045 - M3 x 6" pan-head screws: 40 printed-part-to-horn (4 per horn side) and one horn-retaining screw (motor 5); the other five horn screws are not modelled, so the pipeline adds one on each geared horn axis (approximation). Sources (4) |
m2.5x4 unverifiedno source yet | M2.5x4 pan-head screw (ISO 7045) | 4 | Controller board to its mounting plate, with the M2.5 spacers (STEP only).notesOnly source is the assembly STEP; no assembly text mentions them. The M2.5x4 screws earlier logged under D-001 are these, not motor screws. Sources (1) |
spacer-m2.5-h6 unverifiedno source yet | Hex spacer M2.5 female-female, 6 mm, pass-through | 4 | Between controller board and mounting plate (STEP only). Sources (1) |
m3-nut unverifiedno source yet | M3 hex nut | 2 | Two nuts modelled in the assembly STEP, seated in pockets of the follower gripper body on its drive-horn side, 8 mm apart below the claw screws; no text describes their use, and no step lists them. Sources (1) - SO-ARM100/STEP/SO101/SO101 Assembly.step — Hexagon Nut DIN 934 - M3 and DIN 555 - M3, one each; placement check: both inside Wrist_Roll_Follower_SO101 pockets (pipeline hole test), absent from the leader holder
|