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

中文版

What is PingTi Arm? 🤔

PingTi Arm is an open-source robotic arm designed based on the SO-100 arm and is compatible with Lerobot. The name "PingTi" comes from the Chinese pinyin "平替" (píng tì), which means "affordable substitute"

Features

• Human arm scale: 600mm arm span (excluding the end effector).
• Reasonable payload: Supports up to 500g at maximum arm span.
• Support setting up Leader-Follower arms you can setup a pair of Leader-Follower arm using PingTi Arm as follower arm and SO-100 as leader arm
• Compatible with Lerobot, You can run teleoperation, data collection and other tasks that Lerobot supports via pingti_lerobot_bridge sdk
• Cost Effective:
  • A single PingTi arm costs ~ USD 261,
  • A Lead-Follower setup costs ~ USD 390.
  • If you already own an SO-100 follower arm (12V, 30kg.cm servos), you only need 2 additional servos and a USB drive board (~$157) to assemble the PingTi arm.

Docs

• Bills of Materials List ｜ Bills of Materials List 中文版
• 3D Printing
• Assembly tutorial
• Example of run teleoperation and other tasks via pingti_lerobot_bridge
• (TODO): PingTi Arm on LeKiwi base
• (TODO): URDF for Simulation

Recommendation for Beginners

• I strongly recommend you to start with SO-100 and come to PingTi Arm if you are interested in:

  • a longer arm
  • reasonable payload capacity

• As stated before, if you assemble SO-100 with the 12V 30KG.cm servos, you only need buy 2 more servos and 1 more USB control board to onboard PingTi arm. There is no waste of money

Caution⚠️

• Avoid sudden movement and stop with heavy payload (e.g. 500g)
• Risk of shoulder joint damage if these conditions are not considered.
• Consider to increase the infill density when print the links if you would like to frequently use with heavy payloads

Acknowledgement

• SO-100
• Lerobot
• LeKiwi