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Freigegebene technische Dokumentation veröffentlicht; Text-only und noindex

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'''Documentation notice:''' This technical documentation was independently rewritten from an archived supplier source. Check technical details and commands against the product version and manufacturer documentation before use.

== Summary ==
The SO-ARM100/101 is an open-source 6-axis robotic arm with native support for the Hugging Face LeRobot framework. It uses high-torque bus servos and 3D-printed parts made from photosensitive resin.

== Related products at JW Tech ==
* [https://shop.jw-tech.eu/p/WSAL33316 WSAL33316 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33317 WSAL33317 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33318 WSAL33318 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33324 WSAL33324 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33370 WSAL33370 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33375 WSAL33375 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33376 WSAL33376 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33377 WSAL33377 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33378 WSAL33378 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33379 WSAL33379 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33380 WSAL33380 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33381 WSAL33381 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33382 WSAL33382 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33384 WSAL33384 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33385 WSAL33385 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33386 WSAL33386 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33387 WSAL33387 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33388 WSAL33388 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33389 WSAL33389 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33390 WSAL33390 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33391 WSAL33391 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33392 WSAL33392 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33393 WSAL33393 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33395 WSAL33395 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33396 WSAL33396 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]
* [https://shop.jw-tech.eu/p/WSAL33397 WSAL33397 – SO-ARM100 / 101 Open-Source 6-Axis Robotic Arm, Native Support For Hugging Face LeRobot, High-Torque Bus Servo, Photosensitive Resin 3D-printed Parts]

== Technical overview ==
* LeRobot is a robot development framework by Hugging Face that provides models, datasets, and toolchains under the PyTorch ecosystem for real-world robotics tasks.
* It supports imitation learning and reinforcement learning using algorithms such as ACT and Diffusion Policy.
* The system enables data collection, model training, and autonomous capture via the “manual leader arm + automatic follower arm” configuration.
* SO-ARM100 uses bus servos at 7.4 V with a stall torque of 19.5 kg·cm; suitable for teaching with lower load.
* SO-ARM101 uses bus servos at 12 V with a stall torque of 30 kg·cm; suitable for higher-load applications.
* The SO-ARM100 series offers four package options: no 3D-printed parts, with 3D-printed parts, camera kit, and Jetson Orin Nano kit.
* The SO-ARM101 series offers five package options: no 3D-printed parts (SE), with 3D-printed parts, with 3D-printed parts (SE), camera kit (SE), and Jetson Orin Nano kit (SE).
* Both series provide STEP models for 3D-printing the mechanical components.

== Notes and version constraints ==
* More detailed installation, calibration, or remote-control steps are not included in this source; they are found in separate tutorials (e.g., setting up the LeRobot environment, setting servo IDs, assembly, calibration, dataset recording).
* Package labels such as “(SE)” may indicate regional or distribution variants; their exact meaning should be clarified before purchase.
* The voltage values (7.4 V vs. 12 V) apply to the respective servo configurations; the actual power supply must be selected accordingly.
* Before operation, all 3D-printed parts should be checked for fit and the servo IDs must be set correctly.

== Source and revision record ==
* [https://www.waveshare.com/wiki/SO-ARM100/101 SO-ARM100/101 - Waveshare Wiki]
* Source revision: 109704
* Captured: 2026-08-29T08:38:50+00:00
* SHA-256: <code>21cc7bf9a4cc2bd96725126e0c74b93d854cbc307ee22fbfdef200b45e2fc5ac</code>

WSAL33395 – SO-ARM100 – 101/en - Versionsgeschichte

JWTechPublisher: Freigegebene technische Dokumentation veröffentlicht; Text-only und noindex