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.

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-101268 mm tallPAROL6 Desktop Robot Arm377 mm tallAR4505 mm tall10 cmSO-101268 mm tallPAROL6 Desktop Robot Arm377 mm tallAR4505 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-101 vs PAROL6 Desktop Robot Arm vs AR4 (Annin Robotics), compared
CriterionSO-101robot armPAROL6 Desktop Robot Armrobot armAR4 (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 supplysourceNot published
Degrees of freedom6arm 5, gripper 1source6arm 6source6arm 6source
TypeManipulatorSerial arm, Leader-follower pairManipulatorSerial armManipulatorSerial arm
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 OKsourceGPL-3.0Commercial use OKsourceAnnin Robotics Open Source Non-Commercial License 1.1Non-commercialsource
LifecycleActivesourceActivesourceActivesource
Reproducibility83/100Strong source coverage, unverifiedCADBOMWIREFWBUILDLICREP73/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREP60/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREP
CAD / mesh presentmet20/20partial10/20partial10/20
BOM evidencemet20/20met20/20partial10/20
Wiring diagrampartial7.5/15partial7.5/15met15/15
Firmware linkedmet10/10met10/10met10/10
Build instructionsmet15/15met15/15met15/15
OSHW-compatible licensemet10/10met10/10missing0/10
Known reproductionsmissing0/10missing0/10missing0/10
Build timeNot publishedNot publishedNot published
Model size430 × 268 × 111 mmwidth × height × depth, as modelled453 × 377 × 238 mmwidth × height × depth, as modelled202 × 505 × 517 mmwidth × height × depth, as modelled
SourceTheRobotStudio/SO-ARM100Source-Robotics/PAROL6-Desktop-robot-armycheng517/ar4_ros_driver

More comparisons

SO-101 vs PAROL6 Desktop Robot Arm vs AR4: Six-DoF robot arms compared | Motari