1. Introduction
This manual provides comprehensive instructions for the Seeed Studio LeRobot SO-ARM101 Pro AI Robotic Arm Kit with Servo Motors. It covers setup, operation, maintenance, and troubleshooting to ensure optimal performance and longevity of your robotic arm.
The SO-ARM101 Pro is an advanced, open-source 6-Degrees-of-Freedom (6-DOF) robotic arm designed for AI robotics enthusiasts and developers. It is compatible with LeRobot and Hugging Face frameworks, supporting imitation learning and reinforcement learning for real-world robotics applications.
2. What's in the Box
Please verify that all components listed below are included in your package. Note that 3D printed parts are not included in this kit and must be acquired separately.
Image: All components included in the LeRobot SO-ARM101 Pro Servo Motors Kit, laid out on a white surface. This includes various servo motors, control boards, cables, and power supplies.
- 7.4v STS3215 Servo Motor (1:345 gear rate): 1 unit
- 7.4v STS3215 Servo Motor (1:191 gear rate): 2 units
- 7.4v STS3215 Servo Motor (1:145 gear rate): 3 units
- 12v STS3215 Servo Motor (1:345 gear rate): 6 units
- Servo Adaptor Board for Seeed Studio XIAO: 2 units
- Studs: 8 units
- Screws: 8 units
- 5V Power Supply Cable (Multiple head): 1 unit
- 12V Power Supply Cable (Multiple head): 1 unit
- USB-C Cable: 2 units
- DC Power Pigtail Cable: 2 units
Note: 3D printed parts are essential for the full assembly of the robotic arm but are not included in this kit. STL files for 3D printing are available on the Seeed Studio Wiki, or these parts can be purchased separately.
3. Setup and Assembly
The LeRobot SO-ARM101 Pro requires assembly. Detailed open-source assembly and calibration guides are available on the Seeed Studio Wiki. This section provides a general overview of the process.
3.1 Required Additional Components
- 3D Printed Parts: These form the structural components of the robotic arm. STL files are provided for self-printing, or pre-printed kits can be purchased.
- NVIDIA Jetson Edge Device: Compatible with models such as reComputer Mini J4012 Orin NX 16 GB for AI processing.
- Tools: Basic hand tools for assembly (e.g., screwdrivers).
3.2 Assembly Steps (General)
- Prepare 3D Printed Parts: Ensure all 3D printed structural components are ready.
- Mount Servo Motors: Attach the STS3215 servo motors to the 3D printed parts according to the assembly guide. Pay attention to the specific gear ratios for each joint.
- Connect Wiring: Connect the servo motors to the Servo Adaptor Boards and then to your chosen NVIDIA Jetson device. The improved wiring design minimizes disconnection issues.
- Power Connection: Connect the appropriate 5V and 12V power supply cables.
- Initial Calibration: Follow the calibration guide to ensure all servo motors are correctly aligned and functioning within their intended range of motion.
Image: An assembled LeRobot SO-ARM101 Pro robotic arm, showcasing its 6-DOF structure and integrated servo motors. This image represents the final assembled product.
For detailed, step-by-step assembly instructions and visual aids, please refer to the official Seeed Studio Wiki.
4. Operating the LeRobot SO-ARM101 Pro
The SO-ARM101 Pro is designed for advanced AI robotics applications, leveraging the LeRobot and Hugging Face frameworks.
4.1 Software Setup
- Install LeRobot Framework: Ensure the LeRobot platform is installed on your NVIDIA Jetson device. This platform provides PyTorch-based datasets, simulation, training, and deployment tools.
- Hugging Face Integration: Utilize Hugging Face libraries for advanced AI model development and deployment.
- NVIDIA Robotics Toolkit: For simulation and development, integrate with NVIDIA Isaac Sim and GR00T N1.
4.2 Key Features and Operation Modes
- 6-DOF Motion: The arm offers flexible movement in 3D space, suitable for complex tasks like grasping and placing.
- Real-Time Leader-Follower Functionality: This feature allows a human-controlled "leader" arm to guide the robotic "follower" arm. This is crucial for:
- Imitation Learning: Demonstrating tasks for the robot to learn.
- Reinforcement Learning (RL) Training: Providing human intervention and correction during training phases.
- Data Collection: The arm can collect operational data, including posture trajectory, grasping actions, and end-effector force feedback, for training AI models.
- AI Model Training: Supports advanced imitation and reinforcement learning models such as ACT (Action Chunking Transformer) and Diffusion Policy for stable and high-precision control.
Video: An overview of the LeRobot SO-ARM101 Pro, demonstrating its capabilities in various AI robotics applications and hackathons. It shows the arm performing tasks and being used in development environments.
For detailed programming examples and advanced usage scenarios, consult the Seeed Studio Wiki and the LeRobot documentation.
5. Maintenance
Proper maintenance ensures the longevity and reliable operation of your LeRobot SO-ARM101 Pro.
- Regular Cleaning: Keep the robotic arm and its components free from dust and debris. Use a soft, dry cloth for cleaning.
- Joint Inspection: Periodically check all joints and servo motor connections for any signs of looseness or wear. Tighten screws as necessary.
- Wiring Integrity: Inspect all cables and connections for damage. Ensure wires are securely connected to prevent disconnections.
- Software Updates: Regularly check for and install updates to the LeRobot framework, Hugging Face libraries, and NVIDIA Jetson software to benefit from performance improvements and new features.
- Storage: When not in use, store the robotic arm in a clean, dry environment, away from extreme temperatures and direct sunlight.
6. Troubleshooting
This section addresses common issues you might encounter with your LeRobot SO-ARM101 Pro.
| Problem | Possible Cause | Solution |
|---|---|---|
| Robotic arm not responding. | Power supply issue, loose connections, software error. |
|
| Inaccurate or jerky movements. | Improper calibration, mechanical obstruction, insufficient power. |
|
| Joint disconnection (especially at joint 3). | Loose wiring, mechanical stress. |
|
| Software errors or crashes. | Incorrect software configuration, incompatible libraries, resource limitations. |
|
If you encounter issues not covered here, please refer to the Seeed Studio Wiki or contact technical support.
7. Specifications
| Feature | Detail |
|---|---|
| Degrees of Freedom (DOF) | 6-Axis |
| Maximum Torque | 30 kg-cm @ 12V |
| Servo Motor Type | STS3215 Bus Servo |
| Power Supply (Follower Arm) | 5.5*2.1mm DC 12V2A |
| Power Supply (Leader Arm) | 5.5*2.1mm DC 5V4A |
| Angle Sensor | 12-bit magnetic encoder |
| Recommended Operating Temperature | 0°C ~ 40°C |
| Communication Method | UART |
| Control Method | PC |
| Product Dimensions | 1 x 1 x 1 inches (assembled arm dimensions may vary based on 3D printed parts) |
| Item Weight | 3.72 pounds (Servo Motors Kit only) |
Image: A detailed table summarizing the key technical specifications of the LeRobot SO-ARM101 Pro, including degrees of freedom, torque, servo type, and operating conditions.
8. Warranty Information
Seeed Studio products typically come with a limited warranty. For specific warranty terms and conditions applicable to the LeRobot SO-ARM101 Pro AI Robotic Arm Kit, please refer to the official Seeed Studio website or contact their customer service directly.
Keep your proof of purchase for any warranty claims.
9. Support and Resources
For further assistance, detailed guides, and community support, please utilize the following resources:
- Official Seeed Studio Website: www.seeedstudio.com
- Seeed Studio Wiki (Documentation & Guides): www.seeedstudio.com/wiki (Contains assembly, calibration, testing, and deployment instructions, as well as STL files for 3D printed parts).
- LeRobot Platform: Explore the open-source LeRobot platform for PyTorch-based datasets, simulation, training, and deployment tools.
- Hugging Face Community: Engage with the Hugging Face community for AI model development and support.
- Customer Service: For direct technical support or inquiries, please contact Seeed Studio customer service through their official website.
