Project files

PingTi Arm - A Low-Cost Robotic Arm with Human Arm Length 🤖💪

What is PingTi Arm?🤔

The PingTi robotic arm is based on the SO-100 robotic arm (opens in a new tab) design and is compatible with Lerobot (opens in a new tab). PingTi is the pinyin for "平替", meaning "affordable alternative".

Features

• Human arm length dimensions: The reach is 660mm (excluding the end effector).
• Reasonable payload capacity: Supports payloads of up to 550g at maximum reach.
• Leader-follower arm setup supported: You can use SO-100 as the leader arm and PingTi Arm as the follower arm.
• Lerobot compatible: You can run teleoperation, data collection and other tasks by using the pingti_lerobot_bridge (opens in a new tab)` SDK.
• Low cost:
  • A single PingTi robotic arm costs about 1800 RMB,
  • Assembling a leader-follower pair costs 2486 RMB.
  • If you have already assembled an SO-100 follower arm (using 12V, 30kg.cm servos), you only need to buy 2 more servos and a USB driver board (973 RMB) to assemble the PingTi Arm.

Docs

• Bill of Materials (Taobao link version)
• 3D Printing
• Assembly Tutorial
• Run Teleoperation
• URDF Files for Simulation

Recommended for Beginners

• It is strongly recommended that beginners start with SO-100 (opens in a new tab), and then move on to the PingTi robotic arm if you are interested in:

  • A longer robotic arm
  • Reasonable load capacity

• As mentioned earlier, if you assemble the SO-100 using 12V 30KG.cm servos, you only need to buy 2 more servos and 1 USB control board to upgrade to the PingTi robotic arm. No money will be wasted.

Precautions⚠️

• Avoid sudden starts and stops under heavy loads (for example 600g).
• Failing to observe these conditions may damage the shoulder joint.
• If you plan to use heavy loads frequently, it is recommended to increase the infill density when printing the robotic arm connectors.

Acknowledgements

• SO-100 (opens in a new tab)
• Lerobot (opens in a new tab)
• LeKiwi (opens in a new tab)