SO-106

Beta

A 6-DOF desktop arm built from Feetech serial-bus servos.

solarian-dev/solarian-so106
Degrees of freedom
6
Servos
Feetech STS
Control rate
90 Hz

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SO-106 is a six-joint arm for tabletop manipulation. It adds a wrist yaw joint to the SO-ARM100 layout, so the wrist can flex, yaw and roll independently. Four high-torque STS3250 servos carry the shoulder, elbow and wrist flex; two STS3215 servos drive yaw and roll. Grippers mate to its flange frame, typically the UMI-slim.

SO-106, rendered from its MuJoCo model
Exploded view, drawn from the MuJoCo model
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License
To be announced
Category
Arm