SO-101 Parallel Gripper

December 3, 2025 ยท View on GitHub

SO-101 Parallel Gripper

A lightweight, fully 3D-printable rack-and-pinion gripper that gives the SO-101 arm an ALOHA-style parallel jaw with a 105 mm opening and 72 mm forward reach for real-world manipulation.

Demo

SO-101 Parallel Gripper Demo

Watch the SO-101 Parallel Gripper in action

Specifications

  • Weight: ~165 g
  • Opening Width: 105 mm
  • Forward Reach: 72 mm
  • Design: Rack-and-pinion mechanism
  • Manufacturing: Fully 3D-printable

Assembly

View the full assembly instructions and CAD model here: https://cad.onshape.com/documents/d1149295f86aada4af179739/w/6cb56f8acd609f12b3c3bfe1/e/1fb88de2f9833f29914e7cb3

Files

  • STEP/: CAD files in STEP format for editing and modification
  • STL/: 3D-printable STL files ready for slicing

Components

  1. Backplate
  2. Camera plate
  3. Connector plate
  4. Left gripper (rack)
  5. Right gripper (rack)
  6. Pinion gear

Contact