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SO-ARM100/101 Parallel Gripper

SO-ARM101 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.

License: GPL-3.0 Cost: ~$70 Assembly: 30min

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

✨ Key Features

Feature Description
120N Gripping Force Reliable parallel jaw mechanism
14 mm/s Speed Gripper operation speed
84mm Full Stroke Wide opening for various objects
0.5mm Repeatability High precision positioning
Camera Compatible Supports RealSense, Orbbec, USB cameras
3D Printable All parts print on standard FDM printers
~$62 Total Cost Affordable open-source solution
Easy Assembly 30-45 minutes with basic tools

📸 Gallery

Gripper on SO-ARM101

Gripper mounted on SO-ARM101

Follower gripper integrated with SO-ARM101 robot arm

Dimensions

Gripper dimensions

128 × 109 × 130.5 mm, full stroke 84 mm

📋 Specifications

Gripper Parameters

Parameter Value
Maximum gripping force 120 N
Maximum gripping speed 14 mm/s
Full stroke 84 mm
Repeatability 0.5 mm
Assembly mass (PLA, 30% infill) 170 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

📷 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

Different cameras mounted on gripper

RealSense, USB camera module, Orbbec Gemini 2

💰 Bill of Materials

Total Cost: ~$62 (Full BOM with Amazon links)

Category Components Est. Cost
Electronics Feetech STS3215 Servo + Servo Bus Adapter ~$40
Bearings MF106ZZ (x2) ~$2
Aluminium/Carbon Tubes D6x1×125mm (x2) ~$4
3D Printing 8 parts (~100-150g PLA) ~$12
Fasteners M2/M4 screws, M2 nuts, M3 set screws ~$3

🚀 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 (RB9.01.062.010) 1 20% infill
Clamp (RB9.01.062.020) 2 20% infill
Gear rack (RB9.01.062.030) 2 100% infill
Gear (RB9.01.062.040) 1 100% infill
Camera holder (RB9.01.060.074) 1 20% infill
Holder (RB9.01.060.080) 1 20% infill
Camera Spacer (RB9.01.060.090) 1 20% infill
D405 holder (RB9.01.060.110) 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. Mount gear on servo disc, install this assembly on servo
  2. Insert servo cable
  3. Using Feetech software move servo to its minimal position (move the slider in the software to the left)
  4. Attach gear racks to clamps
  5. Inserts the rods into both clamps
  6. Install bearings on main frame and fix with srews
  7. Snap the rods into the frame
  8. Spread the clamps to the extreme positions on the left and right
  9. Insert servo and fix it with screws
  10. Attach Camera Spacer and UVC camera, fix with 4x screws and nuts M2 (optional)
  11. Mount to robot arm (optional)

4. Software

# Configure servo motor if necessary
https://lab.robonine.com/tools/robonine/feetech-bus

# Control gripper
https://lab.robonine.com/tools/robonine/control-robot

📁 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)
├── simulation/
│   ├── README.md                  # Simulation overview
│   ├── gazebo/                    # Gazebo guide
│   ├── mujoco/                    # MuJoCo guide
│   ├── webots/                    # Webots guide
│   ├── coppeliasim/               # CoppeliaSim guide
│   ├── isaac_sim/                 # Isaac Sim guide
│   └── so_arm_101_description/    # ROS2 package (URDF, launch, Docker)
├── software/
│   └── python/                # Control software
└── examples/                  # Usage examples

📖 Documentation

Document Description
Quick Start Guide Get running in 30 minutes
Assembly Guide Step-by-step with images
Gripper Assembly Guide (PDF) Printable gripper assembly instructions
SO-ARM101 Assembly Guide (PDF) Full SO-ARM101 arm assembly instructions
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

🔧 Hardware Requirements

Electronics

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

Mechanical

  • 2× MF106ZZ Bearings (6×10×3 mm)
  • 2× Aluminium/Carbon Tubes D6x1×125 mm

Fasteners

  • 2× M4×8 DIN 7991 screws
  • 4x M2x8 DIN 912 screws
  • 4× M2 DIN 934 nuts
  • 4× M3×4 DIN 913 set screws

Tools Required

  • Phillips head screwdriver (PH1)
  • Hex keys M2 (H1.5) and M4 (H2.5)

🖥️ Simulation

The SO-ARM101 can be simulated in 5 physics engines using a ROS2 description package with a single parameterized URDF. No ROS2 installation required -- Docker handles everything.

Gazebo (Ignition Fortress) MuJoCo
SO-ARM-101 in Gazebo SO-ARM-101 in MuJoCo
Simulator Status Docker
Gazebo Ready docker compose run gazebo
MuJoCo Ready docker compose run mujoco
Webots Unstable docker compose run webots
CoppeliaSim Not tested External simulator
NVIDIA Isaac Sim Not tested External simulator

Quick start (Docker):

cd simulation/so_arm_101_description
docker compose run gazebo    # or mujoco, webots

See the Simulation Guide for full setup, architecture details, and robot commanding.

🔬 Community Mods

Variants of the gripper built by the community, each self-contained in community/:

Mod Author Description
Histology Slide Gripper Michael Viacheslavov Clamps for 75 x 25 mm microscope slides and staining dippers/racks, plus an angled Arducam holder for monitoring the grasp.

Histology slide gripper mod holding a microscope slide

Histology Slide Gripper mod — click for full description, CAD files, and demo

🤝 Contributing

We welcome contributions! Please feel free to:

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

📄 License

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

🔗 Links

👥 Engineering Team

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

Built for the robotics community by Robonine 🤖

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

About

3D-printed parallel gripper compatible with Feetech STS3215 and Waveshare ST3215 servos. Ready-to-use solution for the SO-ARM 100/SO-ARM 101.

robonine.com

Topics

3d-printingfeetechgripperlerobotmanipulatoropen-source-roboticsparallel-gripperroboarmrobotic-armroboticsso-arm100so-arm101

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