SO-101 (SO-ARM101) vs Thor
Cost, parts and difficulty side by side.
| SO-101 (SO-ARM101) | Thor | |
|---|---|---|
| Cost | $230 to $330 | $300 to $450 |
| Difficulty | beginner | advanced |
| Parts | 8 | 61 |
| 3D printing | yes | yes |
| Kits available | 5 | 0 |
| Made by | TheRobotStudio and Hugging Face | Ángel LM (AngelLM) |
| Full list | SO-101 (SO-ARM101) parts list | Thor parts list |
SO-101 (SO-ARM101)
Low-cost 3D printed 6-DOF arm pair (leader plus follower) for teleoperation and imitation learning with LeRobot.
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-101 costs less to start: about $230 against $300 in parts. SO-101 has the shorter parts list (8 lines against 61).
Motors and servos
SO-101
- 7 x Feetech STS3215 7.4V, 1/345 gear (C001)
- 2 x Feetech STS3215 7.4V, 1/191 gear (C044)
- 3 x Feetech STS3215 7.4V, 1/147 gear (C046)
- 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