Parts · hardware
Servo horn, plain (idle side) approximation3D stand-in
Details
- Id:
servo-horn-plain - Quantity: 10
- Arms: follower, leader
- Name in the assembly CAD: 金属舵盘(从动)
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.
Used in
- F-010 Fit both horns on motor 1 (shoulder pan)
- F-020 Fit both horns on motor 2 (shoulder lift)
- F-030 Fit both horns on motor 3 (elbow flex)
- F-040 Fit both horns on motor 4 (wrist flex)
- F-062 Fit both horns on the gripper motor
- L-010 Fit both horns on motor 1 (shoulder pan)
- L-020 Fit both horns on motor 2 (shoulder lift)
- L-030 Fit both horns on motor 3 (elbow flex)
- L-040 Fit both horns on motor 4 (wrist flex)
- L-062 Insert the gripper motor and fit its horn
Sources (4)
- waveshare.com (retrieved 2026-09-07) — Follower steps 2 and 15
- lerobot/docs/source/so101.mdx#joint-5 — "Install only one motor horn on the wrist motor"
- mantech.co.za (retrieved 2026-09-08) — section 10 Accessories drawing: ø19.95, ø14 bolt circle 4-M3, ø9 hub, thicknesses
- SO-ARM100/STEP/SO101/SO101 Assembly.step — placement transform from the embedded vendor horn 金属舵盘 (vendor extent ø19.2, not used)