Nikita Bragin PRO

branikita

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https://robonine.com/

AI & ML interests

Founder of Robonine. Robotics for research and education

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liked a Space 9 days ago

lerobot/robot-folding

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SO-ARM 101 vs SO-ARM 102: stiffness Same rig, same 300 g hanging from the gripper, dial indicator in the same spot. • SO-ARM 101 — 7.5 mm • SO-ARM 102 — 3.9 mm About half the deflection. Both arms are built with printed servo dummies, so this is the structure being compared, not the motors. Parts printed at 25 % infill.

posted an update 15 days ago

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SO-ARM 101 vs SO-ARM 102: stiffness

Same rig, same 300 g hanging from the gripper, dial indicator in the same spot.

• SO-ARM 101 — 7.5 mm
• SO-ARM 102 — 3.9 mm

About half the deflection. Both arms are built with printed servo dummies, so this is the structure being compared, not the motors. Parts printed at 25 % infill.

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2232

SO-ARM 102 goes open source in the next few weeks.

What's new:
- A parallel gripper: the jaws stay parallel through the whole stroke instead of pivoting around the object as they close.
- PET-CF instead of PLA+ for a much stiffer frame.
- A topology-optimized structure.
- Wider joint rotation and folding range.
- STS3250 servos on the first shoulder joint.

Compared with the SO-ARM 101, that adds up to 2.5x the payload, roughly 2x better positioning accuracy, roughly 1.6x the movement speed, and about 36 mm more reach.

It runs on Hugging Face LeRobot, so the same tooling, training pipeline and tutorials for the SO-ARM 101 work on it from day one.

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