Kit Assembly

The 3D printing kit can be assembled into a leader arm and a follower arm. The assembly process of SO-ARM100 is similar to that of SO-ARM101, with the core difference being that SO-ARM101 needs to distinguish between the leader and follower arm servo models.

Servo Preprocessing

All joint servos of SO-ARM100 are ST3215-7.4V servos, and model differentiation can be skipped.

The models of leader and follower arm servos for different kits of SO-ARM101 are as follows:

	SO-ARM101 3DP Parts Kit	SO-ARM101 No-3DP Parts Kit (SE)	SO-ARM101 3DP Parts Kit (SE)	SO-ARM101 CAM Kit (SE)	SO-ARM101 Jetson Orin Nano Kit (SE)
Leader arm	ID = 1, 2, 3: ST3215 Servo; ID = 4, 5, 6: ST3215-HS Servo	ST3215 Servo (SE)*6
Follower arm	ST3215 Servo *6

Note: The ST3215 Servo (SE) is a virtual servo, which only has an encoder and no power section, making it very smooth to use.

The servo IDs used by the robotic arms from bottom to top are 1 ~ 6. It is recommended to set the servo ID before assembling the robotic arm, as it will be troublesome to disassemble and assemble the servo cable after assembly.

Assembly Video

SO-ARM101 Assembly Instructions

Follower Arm Assembly

The figure below shows the 3D printed kit used for the SO-ARM101 follower arm. For ease of description, each printed part is numbered F1 to F11.

Steps:
1. Install servo No. 1. First, take out the base F1 and servo No. 1, plug the connecting wires into the two ports of servo No. 1, then insert the servo No. 1 into the cavity in the middle of the base, and fix the servo with four pointed screws (two on the top and bottom).

2. Install the steering wheel of servo No. 1. Each servo is equipped with two steering wheels, one with gears and the other without gears. The output shaft of the No. 1 servo (i.e., the upper end of the servo) is equipped with a steering wheel with gears, and the steering wheel without gears is installed at the bottom, trying to keep the steering wheel direction positive.

3. Install the base motor bracket F2. Take out the base motor bracket F2 and put it on the base F1 and secure it with screws on both sides. Thread one wire of the No.1 servo out of the middle port of F1, and place the other wire in the wire groove of F2.

Note: The function of the wire groove is to make the circuit look neat and beautiful, and it can be unused. The printed version of SO-ARM100 does not have a wire groove.

4. Install the shoulder F3. Clamp the shoulder F3 horizontally along the inner sliding position at both ends of the No.1 servo. The holes at both ends of the shoulder F3 should coincide with the holes on the steering wheel, and the ends should be fixed with flat head screws.

5. Install the shoulder motor bracket F4 and the servo No. 2. Put the shoulder motor bracket F4 on shoulder F3 and load into servo No. 2 with screws on both ends. Then use the connection cable of servo No. 1 to connect with servo No. 2 (either servo port is fine).

6. Install the steering wheel of servo No. 2. Install the steering wheel at both ends of the No. 2 servo to keep the steering wheel direction as positive as possible. Then insert the connection line into the other port of the servo.

7. Install the upper arm F5. Align the upper arm F5 along the inner slide and secure it to the steering wheel from the side, with the wire slot of the upper arm F5 on the same side as the wiring harness. The holes at both ends of the upper arm F5 should align with the holes on the steering wheel, and both ends are fixed with screws.

8. Install servo No. 3. Insert the No. 3 servo into the groove of the upper arm F5 and secure it with screws at both ends. Use the connection cable of servo No. 2 to connect with servo No. 3.

9. Install the steering wheel of servo No. 3. Install the steering wheel at both ends of the No. 3 servo to keep the steering wheel direction as positive as possible. Insert the connection line into the other port of the servo.

10. Install the forearm F6. Align the forearm F6 along the inner slide and secure it to the steering wheel from the side, with the wire slot of the forearm F6 on the same side as the wiring harness. The holes at both ends of the forearm F6 should align with the holes on the steering wheel, and both ends are fixed with screws.

11. Install elbow motor bracket F7 and servo No.4. Attach the elbow motor bracket F7 to the forearm F6, with the wire groove and wiring harness on the same side. Insert the No. 4 servo into the groove and fix both ends with screws. Use the connection cable of servo No. 3 to connect with servo No. 4.

12. Install the steering wheel of servo No. 4. Install the steering wheel at both ends of the No. 4 servo to keep the steering wheel direction as positive as possible. Insert the connection line into the other port of the servo.

13. Install the wrist bracket F8. Align F8 and F7 horizontally, with the rectangular opening of the wrist bracket F8 on the same side as the wiring port of the 4th servo, then slide it along the track and secure it onto the steering wheel. At this time, the holes at both ends of the wrist bracket F8 coincide with the holes on the steering wheel, and the two ends are fixed with screws.

14. Install servo No. 5. Connect the wire of Servo No. 4 from the bottom port of the wrist bracket F8, then pass it out through one of the rectangular ports on the side and connect it to Servo No. 5. A connection cable is also inserted into the other port of the servo 5 to thread the wire out of the bottom of the wrist bracket F8. Adjust the position of the 5th servo cable, then insert the servo into the wrist bracket F8. The side of the servo with the gear should be inserted first, with the gear facing up. Secure the servo with screws after installation.

Note: Be careful when inserting the No. 5 servo, otherwise it is easy to tear the wire. If the servo is installed here before wiring, it will be difficult to install due to the limited space.

15. Install the steering wheel of servo No. 5. Mount the geared steering wheel on one side, and do not install a steering wheel on the other side of the servo.

16. Install the Follower wrist F9. Attach the Follower wrist F9 to the steering wheel of servo 5 with screws.

17. Install the 6 servo and steering wheel. Insert No. 6 servo and fix both ends with screws. Use the connection cable of servo No. 5 to connect with servo No. 6, and the steering wheel is installed at both ends of the servo.

18. Install the Follower gripper F10. Mount the Follower gripper F10 perpendicular to F9, slide it from top to bottom into the F9 slot on the steering wheel, and secure both ends with screws.

19. Install Bus Servo Adapter (A) and driver board bracket F11. Mount the driver board on the driver board bracket F11. Attach the driver board to the base motor bracket F2 using the square component on the back of F11. Finally, connect it to the driver board with another connection wire from servo No. 1.

At this point, the SO-ARM101 follower arm is assembled.

Leader Arm Assembly

The figure below shows the 3D printed kit used for the SO-ARM101 leader arm. For ease of description, each printed part is numbered L1 to L12.

Steps:
The assembly steps 1~15 for the Leader leader arm are the same as those for the Follower follower arm and will not be repeated; they differ starting from step 16.

16. Install the Leader wrist L9. Attach the Leader wrist L9 to the steering wheel of servo 5 with screws.

17. Install the 6 servo and steering wheel. Install the No. 6 servo, fix the ends with screws. Then use the connection cable of servo No. 5 to connect with servo No. 6, and the steering wheel is installed at both ends of the servo.

18. Install the Leader Trigger L10. Mount the Leader trigger L10 with screws onto the gear-equipped steering wheel.

19. Install the Leader joystick L11. Install the Leader joystick L11 onto the Leader wrist L9.

20. Install Bus Servo Adapter (A) and driver board bracket L12. Mount the driver board on the driver board bracket L12. Attach the driver board to the base motor bracket L2 using the square component on the back of L12. Finally, connect it to the driver board with another connection wire from servo No. 1.

At this point, the SO-ARM101 leader arm is assembled.

SO-ARM100 Installation Instructions

1. You can assemble the SO-ARM100 by referring to the assembly steps of the SO-ARM101.
2. The leader arm and follower arm of SO-ARM100 have one more base attachment than SO-ARM101, which can be fixed directly to the base with screws.

3. The shoulder motor bracket and elbow motor bracket of SO-ARM100 are the same and do not have wire grooves, while the shoulder motor brackets (L4, F4) and elbow motor brackets (L7, F7) of SO-ARM101 have additional wire grooves with different positions.

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