When we say better, we need to understand better for which conditions? Once we specify such conditions (constraints), model can produce an optimal hand for specific conditions. Into engineering work Nikolay defined such conditions first, after that system offered us more rigidity construction.
Nikita Bragin PRO
branikita
AI & ML interests
Founder of Robonine. Robotics for research and education
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Robonine (Educational Robotics) completed a structural optimization of our 6-DOF robotic manipulator after a structural optimization study. By increasing structural rigidity through topology optimization and design refinement, we reduced end-effector deflection by over 60% (from ~1.05 mm to ~0.41 mm) and improved motion stability. The final configuration delivers higher precision and reliability for industrial applications.
Article: https://robonine.com/increasing-the-structural-rigidity-of-the-manipulator/
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Robonine (Educational Robotics) completed a structural optimization of our 6-DOF robotic manipulator after a structural optimization study. By increasing structural rigidity through topology optimization and design refinement, we reduced end-effector deflection by over 60% (from ~1.05 mm to ~0.41 mm) and improved motion stability. The final configuration delivers higher precision and reliability for industrial applications.
Article: https://robonine.com/increasing-the-structural-rigidity-of-the-manipulator/
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1 day ago
Robonine (Educational Robotics) completed a structural optimization of our 6-DOF robotic manipulator after a structural optimization study. By increasing structural rigidity through topology optimization and design refinement, we reduced end-effector deflection by over 60% (from ~1.05 mm to ~0.41 mm) and improved motion stability. The final configuration delivers higher precision and reliability for industrial applications.
Article: https://robonine.com/increasing-the-structural-rigidity-of-the-manipulator/
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Robonine (Educational Robotics) completed a structural optimization of our 6-DOF robotic manipulator after a structural optimization study. By increasing structural rigidity through topology optimization and design refinement, we reduced end-effector deflection by over 60% (from ~1.05 mm to ~0.41 mm) and improved motion stability. The final configuration delivers higher precision and reliability for industrial applications.
Article: https://robonine.com/increasing-the-structural-rigidity-of-the-manipulator/
Article: https://robonine.com/increasing-the-structural-rigidity-of-the-manipulator/
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posted
an
update
1 day ago
Post
1780
Robonine (Educational Robotics) completed a structural optimization of our 6-DOF robotic manipulator after a structural optimization study. By increasing structural rigidity through topology optimization and design refinement, we reduced end-effector deflection by over 60% (from ~1.05 mm to ~0.41 mm) and improved motion stability. The final configuration delivers higher precision and reliability for industrial applications.
Article: https://robonine.com/increasing-the-structural-rigidity-of-the-manipulator/
Article: https://robonine.com/increasing-the-structural-rigidity-of-the-manipulator/
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5 days ago
Post
1678
Our engineer Alan from https://robonine.com/ (Educational Robotics) integrated Feetech STS3250 and STS3215 servo motors into the prototype and completed the first test run of a 6-DOF semi-SCARA manipulator.
During motion, the structure demonstrates high stiffness with no visible backlash or mechanical play. The kinematic chain remains stable throughout the test trajectory, confirming the rigidity of the mechanical design and joint assembly.
The next stage includes full assembly with all actuators operating in backlash compensation mode, followed by quantitative measurement of positioning accuracy and repeatability.
During motion, the structure demonstrates high stiffness with no visible backlash or mechanical play. The kinematic chain remains stable throughout the test trajectory, confirming the rigidity of the mechanical design and joint assembly.
The next stage includes full assembly with all actuators operating in backlash compensation mode, followed by quantitative measurement of positioning accuracy and repeatability.
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posted
an
update
5 days ago
Post
1678
Our engineer Alan from https://robonine.com/ (Educational Robotics) integrated Feetech STS3250 and STS3215 servo motors into the prototype and completed the first test run of a 6-DOF semi-SCARA manipulator.
During motion, the structure demonstrates high stiffness with no visible backlash or mechanical play. The kinematic chain remains stable throughout the test trajectory, confirming the rigidity of the mechanical design and joint assembly.
The next stage includes full assembly with all actuators operating in backlash compensation mode, followed by quantitative measurement of positioning accuracy and repeatability.
During motion, the structure demonstrates high stiffness with no visible backlash or mechanical play. The kinematic chain remains stable throughout the test trajectory, confirming the rigidity of the mechanical design and joint assembly.
The next stage includes full assembly with all actuators operating in backlash compensation mode, followed by quantitative measurement of positioning accuracy and repeatability.
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16 days ago
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2883
Our engineer Alan from https://robonine.com team has assembled the mechanical frame of our 6-DoF manipulator prototype - without servo motors for now. At this stage we are evaluating how easy the structure is to assemble, checking for any mechanical play, and validating the kinematics.
Good news: the structure feels solid and Alan reports no detectable backlash so far.
Good news: the structure feels solid and Alan reports no detectable backlash so far.
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update
16 days ago
Post
2883
Our engineer Alan from https://robonine.com team has assembled the mechanical frame of our 6-DoF manipulator prototype - without servo motors for now. At this stage we are evaluating how easy the structure is to assemble, checking for any mechanical play, and validating the kinematics.
Good news: the structure feels solid and Alan reports no detectable backlash so far.
Good news: the structure feels solid and Alan reports no detectable backlash so far.
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19 days ago
Post
1739
Open-source parallel gripper for SO-ARM100/101 released!
We’ve published the full open-source parallel gripper design for SO-ARM100 and SO-ARM101.
Includes:
- Mechanical specs and documentation
- Step-by-step assembly guide
- Full BOM with sourcing links
- STL/CAD files for FDM printing (tested on Bambu Lab A1 mini, Prusa MINI+, ≥180×180 mm bed)
The gripper supports an interchangeable camera holder compatible with common research cameras:
- IMX335 (USB RGB, 5 MP)
- GC2093 (USB RGB, 2 MP)
- Orbbec Gemini 2 (RGB-D)
- Intel RealSense D405 (RGB-D, close-range)
- Intel RealSense D435 / D435i (RGB-D, general purpose)
- Intel RealSense D455 (RGB-D, long-range)
~30–45 min assembly, fully 3D-printable, ready to integrate with SO-ARM.
Github repo: https://github.com/roboninecom/SO-ARM100-101-Parallel-Gripper
We’ve published the full open-source parallel gripper design for SO-ARM100 and SO-ARM101.
Includes:
- Mechanical specs and documentation
- Step-by-step assembly guide
- Full BOM with sourcing links
- STL/CAD files for FDM printing (tested on Bambu Lab A1 mini, Prusa MINI+, ≥180×180 mm bed)
The gripper supports an interchangeable camera holder compatible with common research cameras:
- IMX335 (USB RGB, 5 MP)
- GC2093 (USB RGB, 2 MP)
- Orbbec Gemini 2 (RGB-D)
- Intel RealSense D405 (RGB-D, close-range)
- Intel RealSense D435 / D435i (RGB-D, general purpose)
- Intel RealSense D455 (RGB-D, long-range)
~30–45 min assembly, fully 3D-printable, ready to integrate with SO-ARM.
Github repo: https://github.com/roboninecom/SO-ARM100-101-Parallel-Gripper
posted
an
update
19 days ago
Post
1739
Open-source parallel gripper for SO-ARM100/101 released!
We’ve published the full open-source parallel gripper design for SO-ARM100 and SO-ARM101.
Includes:
- Mechanical specs and documentation
- Step-by-step assembly guide
- Full BOM with sourcing links
- STL/CAD files for FDM printing (tested on Bambu Lab A1 mini, Prusa MINI+, ≥180×180 mm bed)
The gripper supports an interchangeable camera holder compatible with common research cameras:
- IMX335 (USB RGB, 5 MP)
- GC2093 (USB RGB, 2 MP)
- Orbbec Gemini 2 (RGB-D)
- Intel RealSense D405 (RGB-D, close-range)
- Intel RealSense D435 / D435i (RGB-D, general purpose)
- Intel RealSense D455 (RGB-D, long-range)
~30–45 min assembly, fully 3D-printable, ready to integrate with SO-ARM.
Github repo: https://github.com/roboninecom/SO-ARM100-101-Parallel-Gripper
We’ve published the full open-source parallel gripper design for SO-ARM100 and SO-ARM101.
Includes:
- Mechanical specs and documentation
- Step-by-step assembly guide
- Full BOM with sourcing links
- STL/CAD files for FDM printing (tested on Bambu Lab A1 mini, Prusa MINI+, ≥180×180 mm bed)
The gripper supports an interchangeable camera holder compatible with common research cameras:
- IMX335 (USB RGB, 5 MP)
- GC2093 (USB RGB, 2 MP)
- Orbbec Gemini 2 (RGB-D)
- Intel RealSense D405 (RGB-D, close-range)
- Intel RealSense D435 / D435i (RGB-D, general purpose)
- Intel RealSense D455 (RGB-D, long-range)
~30–45 min assembly, fully 3D-printable, ready to integrate with SO-ARM.
Github repo: https://github.com/roboninecom/SO-ARM100-101-Parallel-Gripper
replied to
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23 days ago
Working on it. Planning to publish parallel gripper first
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24 days ago
Thank you, Tyler!
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25 days ago
Post
2050
We tested the maximum dynamic payload of the SO-ARM101 with our parallel gripper and a base servo replaced by a Feetech STS3250. The maximum load before failure was 630 g, at which point the Feetech STS3215 in joint 3 failed — its large brass output gear was completely worn down.
The Feetech STS3250 in the base with a metal gear train withstood a significantly higher load.
The Feetech STS3250 in the base with a metal gear train withstood a significantly higher load.
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- 2 replies
posted
an
update
25 days ago
Post
2050
We tested the maximum dynamic payload of the SO-ARM101 with our parallel gripper and a base servo replaced by a Feetech STS3250. The maximum load before failure was 630 g, at which point the Feetech STS3215 in joint 3 failed — its large brass output gear was completely worn down.
The Feetech STS3250 in the base with a metal gear train withstood a significantly higher load.
The Feetech STS3250 in the base with a metal gear train withstood a significantly higher load.
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about 1 month ago
Post
2141
Next week, we will release full documentation for the SO ARM 101 with a parallel gripper, featuring leader and follower arms and support for widely used stereo cameras.
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- 2 replies
posted
an
update
about 1 month ago
Post
2141
Next week, we will release full documentation for the SO ARM 101 with a parallel gripper, featuring leader and follower arms and support for widely used stereo cameras.
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about 1 month ago
Thank you for your comment, William. I will defenetly publish all updates here.
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about 1 month ago
Post
2073
Update: Our engineer Alan has received a batch of components for the manipulator assemblies — including clamps and metal bracket parts. Prototype assembly is planned for the beginning of next year.
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- 2 replies
posted
an
update
about 1 month ago
Post
2073
Update: Our engineer Alan has received a batch of components for the manipulator assemblies — including clamps and metal bracket parts. Prototype assembly is planned for the beginning of next year.
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about 2 months ago
Post
1873
We've published a comprehensive evaluation of the Feetech STS3250 servo actuator.
Key Findings:
- Speed: 77.6 RPM (exceeds spec by 3.2%)
- Backlash: 0.43° (within 0.5° limit)
- Repeatability: ±0.02mm at 95mm radius
- Peak torque: 48 kg·cm
- Sustained torque: ~25 kg·cm after thermal protection
Full review: https://robonine.com/feetech-sts3250-smart-actuator-evaluation-of-accuracy-torque-and-backlash/
Key Findings:
- Speed: 77.6 RPM (exceeds spec by 3.2%)
- Backlash: 0.43° (within 0.5° limit)
- Repeatability: ±0.02mm at 95mm radius
- Peak torque: 48 kg·cm
- Sustained torque: ~25 kg·cm after thermal protection
Full review: https://robonine.com/feetech-sts3250-smart-actuator-evaluation-of-accuracy-torque-and-backlash/
- 1 reply
posted
an
update
about 2 months ago
Post
1873
We've published a comprehensive evaluation of the Feetech STS3250 servo actuator.
Key Findings:
- Speed: 77.6 RPM (exceeds spec by 3.2%)
- Backlash: 0.43° (within 0.5° limit)
- Repeatability: ±0.02mm at 95mm radius
- Peak torque: 48 kg·cm
- Sustained torque: ~25 kg·cm after thermal protection
Full review: https://robonine.com/feetech-sts3250-smart-actuator-evaluation-of-accuracy-torque-and-backlash/
Key Findings:
- Speed: 77.6 RPM (exceeds spec by 3.2%)
- Backlash: 0.43° (within 0.5° limit)
- Repeatability: ±0.02mm at 95mm radius
- Peak torque: 48 kg·cm
- Sustained torque: ~25 kg·cm after thermal protection
Full review: https://robonine.com/feetech-sts3250-smart-actuator-evaluation-of-accuracy-torque-and-backlash/
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- 1 reply