Full assembly

Assembly · 44 steps · No ratings yet

44 steps

Put the Base in place
Put the Base of the SO101 in place in order to assemble other parts on it
Put in place the first servomotor
Put in place the first servomotor as shown. Tip: each servomotor needs its own ID (1 to 6, from the base up) before it goes into the arm, because all six share one cable bus. Set the IDs first, for example with LeRobot's motor setup command.
Screw the servomotor in the Base
Screw the servomotor in the Base by screwing the 4 highlighted screws as shown.
Put in the servomotor cover in place
Slide the highlighted cover onto servomotor 1 from the rear until it sits flush with the base and its two side screw holes line up.
Screw the cover of the servomotor
Screw the cover of the servomotor in order not to move
Put in place the rotation pitch part
Put in place the rotation pitch part on the servomotor
Screw the Rotation Pitch
Screw the Rotation Pitch to the servomotor using the upper side screws
Screw the Rotation Pitch
Screw the Rotation Pitch to the servomotor using the lower side screws
Assemble the cover of the Rotation Pitch
Fit the highlighted cover onto the rotation pitch part so it sits flush and its edges line up with the part.
Put in place the second servomotor
Insert servomotor 2 into the rotation pitch part in the orientation shown, with its output shaft on the side where the arm will attach. Route its cable so it will not be pinched by the arm.
Screw the second servomotor
Screw the second servomotor in the Rotation Pitch
Assemble the arm
Assemble the arm on the second servomotor
Screw the first set of screws
Fasten the first highlighted set of screws to fix the arm to servomotor 2. Tighten them evenly so the arm sits flat.
Screw the second set of screws
Fasten the second highlighted set of screws on the other side of servomotor 2. The arm should now be held firmly on both sides with no play.
Put in place the third servomotor
Insert servomotor 3 into the end of the arm in the orientation shown, with its output shaft on the side where the second arm will attach. Route its cable along the arm.
Screw the third servomotor
Screw the third servomotor in the arm
Assemble the second arm
Place the second arm onto servomotor 3 in the orientation shown, so its screw holes line up with the servo on both sides.
Screw the first set of screws
Screw the arm to the servomotor using the first set of screws
Screw the second set of screws
Fasten the second highlighted set of screws to finish fixing the second arm to servomotor 3.
Assemble the part as shown
Assemble the part on the arm as shown
Put in place the fourth servomotor
Insert servomotor 4 into the end of the second arm in the orientation shown. Route its cable along the arm so it will not be pinched.
Screw the fourth servomotor
Screw the fourth servomotor to the arm
Put in place the part as shown
Put in place the part on the servomotor as shown
Screw the part as shown
Screw the part using the screws as shown
Screw the part as shown
Screw the part using the screws as shown
Put in place the fifth servomotor
Slide servomotor 5 into the wrist bracket through its open side, in the orientation shown, with its output shaft facing the gripper end.
Add the washer
Add the servomotor washer
Screw the fifth servomotor
Fasten servomotor 5 to the wrist bracket with the highlighted screws. Tighten them evenly.
Put in place the lower jaw
Place the lower (fixed) jaw onto the washer of servomotor 5 in the orientation shown, with its screw holes lined up.
Screw the jaw to the washer and servomotor
Fasten the lower jaw to the washer of servomotor 5 with the first highlighted screws.
Screw the jaw to the washer and servomotor
Fit the remaining highlighted screws to finish securing the lower jaw to the washer.
Put in place the nuts
Press the two highlighted nuts into their recesses in the lower jaw so they sit flush. Do this now: they are hard to reach once servomotor 6 is in place.
Put in place the sixth servomotor
Slide servomotor 6 (the gripper motor) into the lower jaw in the orientation shown, with its output shaft on the side where the moving jaw will attach.
Screw the sixth servomotor
Fasten servomotor 6 to the lower jaw with the highlighted screws on both sides.
Put in place the upper jaw
Place the moving (upper) jaw onto the output horn of servomotor 6 in the orientation shown.
Screw the upper jaw
Fasten the moving jaw to the servo horn with the first highlighted set of screws.
Screw the upper jaw
Fit the second set of screws to finish securing the moving jaw. Gently open and close the jaw by hand to check that it moves freely.
Assemble the PCB
Fit the servo driver board (PCB) in its place at the base as shown, with its connectors accessible for the servo cable, power and USB.
Plug the first servomotor to the PCB
Connect a 3-pin servo cable from the driver board to servomotor 1.
Plug the first servomotor to the second servomotor
Connect servomotor 1 to servomotor 2 with a 3-pin cable. The servos are daisy-chained: each has two identical ports, so either port can be used.
Plug the second servomotor to the third servomotor
Connect servomotor 2 to servomotor 3. Route the cable along the arm, leaving enough slack for the shoulder and elbow to move through their full range.
Plug the third servomotor to the fourth servomotor
Connect servomotor 3 to servomotor 4. Leave enough slack at the elbow and wrist for full movement.
Plug the fourth servomotor to the fifth servomotor
Connect servomotor 4 to servomotor 5. Leave enough slack at the wrist for full movement.
Plug the fifth servomotor to the sixth servomotor
Connect servomotor 5 to servomotor 6. Gently move each joint by hand through its full range to check that no cable is pulled or pinched. Before first use, power the board and calibrate the arm (for example with LeRobot's calibration command).

Replacing servomotor 6 (gripper)

Maintenance · 9 steps · No ratings yet

9 steps

Unscrew the Initial Set of Screws
Unscrew the first set of screws to begin the disassembly process. Use a Phillips-head screwdriver.
Unscrew the Remaining Screws
Proceed to unscrew the remaining four screws. Use a Phillips-head screwdriver.
Remove the Moving Jaw
Remove the moving jaw part from the assembly.
Remove the wiring on the servomotor
Remove the wiring on the servomotor in order to be able to replace it.
Replace the servomotor
Replace the old servomotor with the new servomotor
Wire the new servomotor
Plug the wiring of the new servomotor
Install the Moving Jaw
Install the Moving Jaw on the new servomotor
Screw the Moving Jaw
Screw the Moving Jaw's first set of screws. Use a Phillips-head screwdriver.
Screw the Moving Jaw
Screw the Moving Jaw's second set of screws. Use a Phillips-head screwdriver.

Replace servomotor 5

Maintenance · 16 steps · No ratings yet

Tools

Phillips-head screwdriver

Warning: Sudden motion and gear damage: use the calibration workflow with its 30% torque cap and smooth interpolation.

16 steps

Prepare for replacement
Complete the approved power-isolation procedure before starting maintenance. Confirm that the replacement servomotor matches the installed servo voltage and specification.
Identify servomotor 5 between servomotors 4 and 6. Note the cable routing and the fitted orientation of the wrist and jaw parts before disassembly.
Disconnect servomotor 5 wiring
Disconnect the cables between servomotors 4 and 5 and between servomotors 5 and 6 at servomotor 5. Keep track of each connection for refitting.
Release the gripper servomotor
Remove the fasteners securing servomotor 6 to the lower jaw/wrist-roll part. Leave the moving jaw attached to servomotor 6.
Move the gripper clear
Gently pull servomotor 6 out of the lower jaw/wrist-roll part, leaving the moving jaw attached. Set the gripper assembly aside to expose the wrist-roll attachment to servomotor 5.
Remove the lower-jaw attachment screws
Remove the four highlighted screws securing the lower jaw/wrist-roll part to servomotor 5. Retain the screws for reassembly.
Remove the lower jaw
Remove the lower jaw/wrist-roll part from servomotor 5 to expose its output washer and retaining screw. Retain the part and its nuts for refitting.
Remove the servo retaining hardware
Remove the highlighted retaining screw and the output washer from servomotor 5. Remove the two highlighted mounting screws securing the servo body to its wrist support. Retain the hardware and note the washer orientation.
Remove servomotor 5
Remove servomotor 5 from its wrist support.
Install the replacement servomotor
Fit the replacement servomotor 5 into the wrist support in the same orientation as the removed servo.
Refit the servo retaining hardware
Refit the output washer in its recorded orientation and install the retaining screw. Refit the highlighted servo-body mounting screws.
Refit the lower jaw
Put the lower jaw/wrist-roll part back on servomotor 5 in its original orientation.
Secure the lower jaw
Refit the four highlighted screws securing the lower jaw to the washer and servomotor 5.
Refit and secure the gripper
Refit servomotor 6 with the moving jaw still attached. Restore its retaining nuts and fasteners to their original positions and secure it to the lower jaw/wrist-roll part.
Reconnect the wiring
Reconnect the cable from servomotor 4 to servomotor 5 and the cable from servomotor 5 to servomotor 6. Restore the recorded cable routing.
Inspect before return to service
Verify that the cable between servomotors 4 and 5 is secure and undamaged, the connector at servomotor 5 is well attached and in good condition, and the cable between servomotors 5 and 6 is secure and intact.
Check all six servomotor connectors, all inter-motor cables, and the servomotor-driver connector at the base for secure attachment and damage before returning the arm to service.
Calibrate and verify movement
After mechanical and wiring checks, restore power and the host connection using the approved startup procedure.
Open the WebUI calibration workflow and select the replaced joint. Capture its minimum position, home/resting position, and maximum position using the three-point workflow.
Use the workflow's 30% torque cap and smooth interpolation. Run Safe Test Home and complete the movement check before selecting Save Calibration.

Power and Control Wiring

Usage · 7 steps · No ratings yet

7 steps

Install printed and mechanical parts
Install the printed and mechanical parts before making the servo daisy-chain connections.
Connect the first servomotor to the PCB
Plug the first servomotor into the PCB.
Connect the first servomotor to the second servomotor
Plug the first servomotor into the second servomotor.
Connect the second servomotor to the third servomotor
Plug the second servomotor into the third servomotor.
Connect the third servomotor to the fourth servomotor
Plug the third servomotor into the fourth servomotor.
Connect the fourth servomotor to the fifth servomotor
Plug the fourth servomotor into the fifth servomotor.
Connect the fifth servomotor to the sixth servomotor
Plug the fifth servomotor into the sixth servomotor.

Pre-operation verification

Usage · 12 steps · No ratings yet

12 steps

Inspect the first servomotor connector
Inspect the first servomotor connector for secure attachment, wear, and damage.
Inspect the cable between the first and second motors
Inspect the cable between the first and second motors for correct connection and damage.
Inspect the second servomotor connector
Inspect the second servomotor connector for secure attachment and condition.
Inspect the cable between the second and third motors
Inspect the cable between the second and third motors for secure connection and damage.
Inspect the third servomotor connector
Inspect the third servomotor connector for security and visible defects.
Inspect the cable between the third and fourth motors
Inspect the cable between the third and fourth motors for a tight connection and intact cable condition.
Inspect the fourth servomotor connector
Inspect the fourth servomotor connector for proper connection and visible damage.
Inspect the cable between the fourth and fifth motors
Inspect the cable between the fourth and fifth motors for secure connection and damage.
Inspect the fifth servomotor connector
Inspect the fifth servomotor connector for secure attachment and condition.
Inspect the cable between the fifth and sixth motors
Inspect the cable between the fifth and sixth motors for secure connection and intact cable condition.
Inspect the sixth servomotor connector
Inspect the sixth servomotor connector for security and defects.
Inspect the servomotor driver connector at the base
Inspect the servomotor driver connector at the base for secure attachment and damage.

Connectors and cables check

Quality Control · 12 steps · No ratings yet

12 steps

Inspect First Motor Connection
Examine the connector at the first servomotor and ensure it's securely attached. Look for any signs of wear or damage.
Inspect First to Second Motor Cable
Check the cable connecting the first and second motors. Ensure it is properly connected and undamaged.
Inspect Second Motor Connection
Ensure the connector at the second servomotor is secure and in good condition.
Inspect Second to Third Motor Cable
Check the cable connection between the second and third motors. Verify that it is secure and free of damage.
Inspect Third Motor Connection
Examine the connector at the third servomotor for security and any visible defects.
Inspect Third to Fourth Motor Cable
Examine the cable linking the third and fourth motors. Ensure the connection is tight and the cable is intact.
Inspect Fourth Motor Connection
Check the connector at the fourth servomotor. It should be properly connected with no visible damage.
Inspect Fourth to Fifth Motor Cable
Inspect the cable connecting the fourth and fifth motors. Look for secure connections and an undamaged cable.
Inspect Fifth Motor Connection
Ensure the connector at the fifth servomotor is well-attached and in good condition.
Inspect Fifth to Sixth Motor Cable
Verify the cable connection between the fifth and sixth motors. Confirm it is secure and the cable is intact.
Inspect Sixth Motor Connection
Check the connector at the sixth servomotor. It should be secure and free from defects.
Inspect Servomotor Driver Connection
Examine the connector at the servomotor driver located at the base. Ensure it is securely attached and free of any damage.

Procedures

Put the Base in place

Put in place the first servomotor

Screw the servomotor in the Base

Put in the servomotor cover in place

Screw the cover of the servomotor

Put in place the rotation pitch part

Screw the Rotation Pitch

Screw the Rotation Pitch

Assemble the cover of the Rotation Pitch

Put in place the second servomotor

Screw the second servomotor

Assemble the arm

Screw the first set of screws

Screw the second set of screws

Put in place the third servomotor

Screw the third servomotor

Assemble the second arm

Screw the first set of screws

Screw the second set of screws

Assemble the part as shown

Put in place the fourth servomotor

Screw the fourth servomotor

Put in place the part as shown

Screw the part as shown

Screw the part as shown

Put in place the fifth servomotor

Add the washer

Screw the fifth servomotor

Put in place the lower jaw

Screw the jaw to the washer and servomotor

Screw the jaw to the washer and servomotor

Put in place the nuts

Put in place the sixth servomotor

Screw the sixth servomotor

Put in place the upper jaw

Screw the upper jaw

Screw the upper jaw

Assemble the PCB

Plug the first servomotor to the PCB

Plug the first servomotor to the second servomotor

Plug the second servomotor to the third servomotor

Plug the third servomotor to the fourth servomotor

Plug the fourth servomotor to the fifth servomotor

Plug the fifth servomotor to the sixth servomotor

Unscrew the Initial Set of Screws

Unscrew the Remaining Screws

Remove the Moving Jaw

Remove the wiring on the servomotor

Replace the servomotor

Wire the new servomotor

Install the Moving Jaw

Screw the Moving Jaw

Screw the Moving Jaw

Tools

Prepare for replacement

Disconnect servomotor 5 wiring

Release the gripper servomotor

Move the gripper clear

Remove the lower-jaw attachment screws

Remove the lower jaw

Remove the servo retaining hardware

Remove servomotor 5

Install the replacement servomotor

Refit the servo retaining hardware

Refit the lower jaw

Secure the lower jaw

Refit and secure the gripper

Reconnect the wiring

Inspect before return to service

Calibrate and verify movement

Install printed and mechanical parts

Connect the first servomotor to the PCB

Connect the first servomotor to the second servomotor

Connect the second servomotor to the third servomotor

Connect the third servomotor to the fourth servomotor

Connect the fourth servomotor to the fifth servomotor

Connect the fifth servomotor to the sixth servomotor

Inspect the first servomotor connector

Inspect the cable between the first and second motors