SO-100 (SO-ARM100) vs Thor
Cost, parts and difficulty side by side.
| SO-100 (SO-ARM100) | Thor | |
|---|---|---|
| Cost | $232 to $330 | $300 to $450 |
| Difficulty | beginner | advanced |
| Parts | 6 | 61 |
| 3D printing | yes | yes |
| Kits available | 1 | 0 |
| Made by | TheRobotStudio and Hugging Face | Ángel LM (AngelLM) |
| Full list | SO-100 (SO-ARM100) parts list | Thor parts list |
SO-100 (SO-ARM100)
The original LeRobot leader and follower arm pair; now deprecated in favor of SO-101 but uses the same servos.
Thor
Open source 3D printed six axis arm driven by NEMA 17 steppers and GT2 belts, controlled with G-code like a 3D printer.
The short answer
SO-100 costs less to start: about $232 against $300 in parts. SO-100 has the shorter parts list (6 lines against 61).
Motors and servos
SO-100
- 12 x Feetech STS3215 7.4V (C001, 1/345)
- 2 x 5V power supply, 5.5x2.1 mm barrel
Thor
- 1 x StepperOnline 17HS15-0404S NEMA 17 stepper
- 3 x StepperOnline 17HS13-0404S-PG5 NEMA 17 stepper with 5:1 planetary gearbox
- 3 x StepperOnline 17HS13-0404S1 NEMA 17 stepper
- 1 x MG995 hobby servo