SO-ARM100 vs SO-101

The SO-100 arm and its successor

SO-ARM100 / SO-ARM101 (Standard Open Arm) is an open-source 6-DoF robot arm under the Apache-2.0 hardware license, published at $123 (source total, follower arm only). 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). Both score 83 of 100 for reproducibility. SO-ARM100 / SO-ARM101 (Standard Open Arm) publishes URDF; SO-101 publishes URDF. SO-ARM100 / SO-ARM101 (Standard Open Arm) is deprecated, superseded by SO-101.

Change the robots in the atlas

Drawn to scale

The robots side by side at their true relative size, as their source models are posed.

10 cmSO-ARM100170 mm tallSO-101268 mm tall10 cmSO-ARM100170 mm tallSO-101268 mm tall
Specimen renders from each project's source files, scaled so a meter is the same length for every robot (measured at each model's center: the renders are perspective views, so the scale is exact there). Heights are the models as posed in their sources.

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.

SO-ARM100 / SO-ARM101 (Standard Open Arm) vs SO-101, compared
CriterionSO-ARM100 / SO-ARM101 (Standard Open Arm)robot armSO-101robot arm
Published cost$123source total, follower arm onlysource$121.94source total, follower arm onlysource
Degrees of freedom6arm 5, gripper 1source6arm 5, gripper 1source
TypeManipulatorSerial arm, Leader-follower pairManipulatorSerial arm, Leader-follower pair
Actuators in the BOM
Boards in the BOMNone of the tracked parts in its BOMNone of the tracked parts in its BOM
Simulation models
Hardware licenseApache-2.0Commercial use OKsourceApache-2.0Commercial use OKsource
LifecycleDeprecatedSuperseded by SO-101sourceActivesource
Reproducibility83/100Strong source coverage, unverifiedCADBOMWIREFWBUILDLICREP83/100Strong source coverage, unverifiedCADBOMWIREFWBUILDLICREP
CAD / mesh presentmet20/20met20/20
BOM evidencemet20/20met20/20
Wiring diagrampartial7.5/15partial7.5/15
Firmware linkedmet10/10met10/10
Build instructionsmet15/15met15/15
OSHW-compatible licensemet10/10met10/10
Known reproductionsmissing0/10missing0/10
Build timeNot published
Model size111 × 170 × 305 mmwidth × height × depth, as modelled430 × 268 × 111 mmwidth × height × depth, as modelled
SourceTheRobotStudio/SO-ARM100TheRobotStudio/SO-ARM100

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