SO-ARM100/101 Parallel Gripper

🎥 Watch the gripper in action!

A lightweight 3D-printed parallel gripper designed by Robonine for the open-source SO-ARM100/101 robotic platform.

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Questions? We're here to help!
📩 Email: hello@robonine.com

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✨ Key Features

Feature	Description
150N Gripping Force	Reliable parallel jaw mechanism
30 mm/s Speed	Gripper operation speed
76mm Full Stroke	Wide opening for various objects
0.1mm Repeatability	High precision positioning
Camera Compatible	Supports RealSense, Orbbec, USB cameras
3D Printable	All parts print on standard FDM printers
~$70 Total Cost	Affordable open-source solution
Easy Assembly	30-45 minutes with basic tools

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📸 Gallery

Gripper on SO-ARM101

Follower gripper integrated with SO-ARM101 robot arm

Dimensions

128 × 109 × 130.5 mm, full stroke 76 mm

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📋 Specifications

Gripper Parameters

Parameter	Value
Maximum gripping force	150 N
Maximum gripping speed	30 mm/s
Full stroke	76 mm
Repeatability	0.1 mm
Assembly mass (PLA, 30% infill)	250 g
DOF	1

Dimensions

Dimension	Value
Width	128 mm
Depth	130.5 mm
Height	109 mm

Servo Parameters (Feetech STS3215)

Parameter	Value
Operating Voltage	12V
Stall torque	30 kg·cm
Speed (no load)	45 RPM
Encoder	Absolute magnetic 12-bit
Protocol	RS485/TTL up to 1 Mbps
Operating temperature	-20°C ~ 60°C

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📷 Camera Compatibility

The gripper supports multiple cameras via interchangeable camera holder:

Camera	Type	Use Case
IMX335 5MP USB	RGB	Basic vision tasks
GC2093 2MP USB	RGB	Budget option
Orbbec Gemini 2	RGB-D	3D perception
RealSense D405	RGB-D	Close-range depth
RealSense D435/D435i	RGB-D	General purpose
RealSense D455	RGB-D	Long-range depth

RealSense, USB camera module, Orbbec Gemini 2

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💰 Bill of Materials

Total Cost: ~$70 (Full BOM with Amazon links)

Category	Components	Est. Cost
Electronics	Feetech STS3215 servo + Bus Adapter	~$40
Bearings	MR106ZZ (2) + LM6UU (4)	~$6
Rods	D6×125mm (2)	~$4
3D Printing	5 parts (~200-300g PLA)	~$17
Fasteners	M3/M4 screws, nuts, set screws	~$3

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🚀 Quick Start

1. Print the Parts (2-4 hours)

Download STL files from models/parts/. Compatible with popular printers like Bambu Lab A1 mini, Prusa MINI+, and any printer with ≥180×180mm bed.

Part	Qty	Settings
Main frame (RB9.01.060.015)	1	20% infill
Clamp (RB9.01.060.021)	2	20% infill
Gear rack (RB9.01.060.030)	2	30% infill
Gear (RB9.01.060.041)	1	30% infill
Camera holder (RB9.01.060.073)	1	20% infill

2. Order Components (1-2 days)

See Bill of Materials for direct Amazon links.

3. Assemble (30-45 minutes)

Follow the Assembly Guide with step-by-step images:

1. Install linear bearings in clamps
2. Mount gear to servo
3. Attach servo to main frame
4. Install MR106ZZ bearings
5. Add rods and clamps
6. Attach gear racks
7. Insert servo cable
8. Add rigidity screws
9. Mount to robot arm (optional)

4. Software Setup

# Install STServo SDK
git clone https://github.com/FEETECH-RC/STServo_SDK_Python.git

# Install dependencies
pip install pyserial

# Run gripper control
python software/python/gripper_control.py

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📁 Repository Structure

├── assets/
│   └── images/
│       ├── assembly/          # Assembly step images
│       └── specification/     # Technical drawings
├── docs/
│   ├── assembly-guide.md                # Step-by-step assembly
│   ├── bom.md                           # Bill of materials with links
│   ├── Parallel gripper by Robo9.pdf    # Gripper product specification
│   ├── quick-start.md                   # Getting started guide
│   ├── SO-ARM101 by Robo9.pdf           # SO-ARM101 product specification
│   └── specifications.md               # Technical specifications
├── models/
│   ├── parts/                              # Individual STL files
│   └── Follower_Gripper_180x180_BedSize.STL  # Complete assembly (180×180mm bed)
├── software/
│   └── python/                # Control software
└── examples/                  # Usage examples

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📖 Documentation

Document	Description
Quick Start Guide	Get running in 30 minutes
Assembly Guide	Step-by-step with images
Bill of Materials	Parts list with Amazon links
Specifications	Technical details
3D Models	Print settings and files
Parallel Gripper Product Spec (PDF)	Parallel gripper product specification by Robo9
SO-ARM101 Product Spec (PDF)	SO-ARM101 robot arm product specification by Robo9

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🔧 Hardware Requirements

Electronics

• 1× Feetech STS3215 Servo Motor
• 1× Bus Servo Adapter Board (Waveshare)

Mechanical

• 2× MR106ZZ Bearings (6×10×3 mm)
• 4× LM6UU Linear Bearings (6×12×19 mm)
• 2× Steel Rods D6×125 mm

Fasteners

• 8× M3×8 DIN 7991 screws
• 4× M3×20 DIN 7991 screws
• 4× M3×50 DIN 912 screws
• 2× M4×6 DIN 7991 screws
• 4× M3 DIN 934 nuts
• 4× M3×4 DIN 913 set screws

Tools Required

• Phillips head screwdriver
• Hex keys M3 and M4

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🤝 Contributing

We welcome contributions! Please feel free to:

• 🐛 Report bugs and issues
• 💡 Suggest new features
• 🔧 Submit pull requests
• 📖 Improve documentation

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📄 License

This project is licensed under the GPL-3.0 License - see the LICENSE file for details.

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🔗 Links

• Feetech STS3215 Servo
• Waveshare Bus Servo Adapter
• STServo Python SDK

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👥 Engineering Team

Name	Role	Contact
Boris Kotov	Software Engineer	Telegram
Alan Subin	Design Engineer	LinkedIn

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Built for the robotics community by Robonine 🤖

Questions? We're here to help!
📩 Email: hello@robonine.com