SO-101 vs PAROL6 Desktop Robot Arm vs AR4
Six-DoF robot arms
SO-101 is an open-source 6-DoF robot arm under the Apache-2.0 hardware license, published at $121.94 (source total, follower arm only). PAROL6 Desktop Robot Arm is an open-source 6-DoF robot arm under the GPL-3.0 hardware license, published at €2,378.81 (vendor kit, PAROL6 kit, all parts except 3D printed parts and power supply). AR4 (Annin Robotics) is a 6-DoF robot arm under the Annin Robotics Open Source Non-Commercial License 1.1 hardware license (non-commercial), with no published cost. Reproducibility scores: SO-101 83, PAROL6 Desktop Robot Arm 73 and AR4 (Annin Robotics) 60 of 100. SO-101 publishes URDF; PAROL6 Desktop Robot Arm publishes URDF; AR4 (Annin Robotics) publishes URDF.
Drawn to scale
The robots side by side at their true relative size, as their source models are posed.
Side by side
Every figure is read from each robot's record, with its source; a cost keeps the currency the source states and its basis.
| Criterion | SO-101robot arm | PAROL6 Desktop Robot Armrobot arm | AR4 (Annin Robotics)robot arm |
|---|---|---|---|
| Published cost | $121.94source total, follower arm onlysource | €2,378.81vendor kit, PAROL6 kit, all parts except 3D printed parts and power supplysource | Not published |
| Degrees of freedom | 6arm 5, gripper 1source | 6arm 6source | 6arm 6source |
| Type | ManipulatorSerial arm, Leader-follower pair | ManipulatorSerial arm | ManipulatorSerial arm |
| Actuators in the BOM |
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| Boards in the BOM | None of the tracked parts in its BOM | None of the tracked parts in its BOM |
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| Simulation models |
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| Hardware license | Apache-2.0Commercial use OKsource | GPL-3.0Commercial use OKsource | Annin Robotics Open Source Non-Commercial License 1.1Non-commercialsource |
| Lifecycle | Activesource | Activesource | Activesource |
| Reproducibility | 83/100Strong source coverage, unverified | 73/100Partial source coverage, unverified | 60/100Partial source coverage, unverified |
| CAD / mesh present | met20/20 | partial10/20 | partial10/20 |
| BOM evidence | met20/20 | met20/20 | partial10/20 |
| Wiring diagram | partial7.5/15 | partial7.5/15 | met15/15 |
| Firmware linked | met10/10 | met10/10 | met10/10 |
| Build instructions | met15/15 | met15/15 | met15/15 |
| OSHW-compatible license | met10/10 | met10/10 | missing0/10 |
| Known reproductions | missing0/10 | missing0/10 | missing0/10 |
| Build time | Not published | Not published | Not published |
| Model size | 430 × 268 × 111 mmwidth × height × depth, as modelled | 453 × 377 × 238 mmwidth × height × depth, as modelled | 202 × 505 × 517 mmwidth × height × depth, as modelled |
| Source | TheRobotStudio/SO-ARM100 | Source-Robotics/PAROL6-Desktop-robot-arm | ycheng517/ar4_ros_driver |