Quick Start Guide

May 28, 2026 · View on GitHub

Get your Follower Gripper for SO-ARM101 up and running!

SO-ARM101 Parallel Gripper

Click the image to watch the gripper in action!

What You'll Need

Hardware

  • All 3D printed parts (see 3D Models)
  • Electronic components (see BOM)
  • Mechanical components (bearings, rods, fasteners)
  • Tools: Phillips screwdriver PH1, Hex keys M2 (H1.5) and M4 (H2.5)

Software

  • Python 3.6+ installed
  • STServo SDK downloaded
  • Serial communication interface

Step 1: 3D Print the Parts (2-4 hours)

  1. Download STL files from models/parts/
  2. Print with recommended settings:
    • Layer height: 0.2mm
    • Infill: 20% (frame/clamps), 30% (gears)
    • Material: PLA or PETG
  3. Remove supports

Compatible 3D Printers (180×180mm+ bed):

  • Bambu Lab A1 mini
  • Prusa MINI / MINI+
  • Anycubic Kobra Neo
  • Any printer with bed ≥180×180mm

Parts to print:

  • 1x Main frame (RB9.01.062.010)
  • 2x Clamp (RB9.01.062.020)
  • 2x Gear rack (RB9.01.062.030)
  • 1x Gear (RB9.01.062.040)
  • 1x Camera holder (RB9.01.060.074)
  • 1x Holder (RB9.01.060.080)
  • 1x Camera Spacer (RB9.01.060.090)

Step 2: Gather Components (1-2 days shipping)

Order parts from the Bill of Materials:

ComponentQtyEst. Cost
Feetech STS3215 servo1~$29
Bus Servo Adapter Board1~$11
MF106ZZ bearings (10x6x3mm)2~$2
Aluminium/carbon tubes D6x1x125mm2~$4
3d printing PLA8 parts~$12
Fasteners (M2/M4 screws/nuts)various~$3

Total estimated cost: ~$62

Step 3: Assembly (30-45 minutes)

Follow the detailed Assembly Guide:

  1. Insert servo cable
  2. Using Feetech software move servo to its minimal position (move the slider in the software to the left)
  3. Attach gear racks to clamps
  4. Inserts the rods into both clamps
  5. Install bearings on main frame and fix with srews
  6. Snap the rods into the frame
  7. Spread the clamps to the extreme positions on the left and right
  8. Insert servo and fix it with screws
  9. Attach Camera Spacer and UVC camera, fix with 4x screws and nuts M2 (optional)
  10. Mount to robot arm (optional)

Step 4: Software Setup (10 minutes)

  1. Install STServo SDK

    git clone https://github.com/FEETECH-RC/STServo_SDK_Python.git
cd STServo_SDK_Python
cp -r STservo_sdk /path/to/your/project/

  2. Install Python dependencies

    pip install pyserial

  3. Configure connection

    DEVICENAME = 'COM7'  # Windows
# DEVICENAME = '/dev/ttyUSB0'  # Linux
STS_ID = 1  # Servo ID (use 6 if connected as gripper on SO-ARM101)

Step 5: First Test (5 minutes)

  1. Connect hardware

    • Servo → Bus Servo Adapter
    • Bus Adapter → Computer (USB)
    • Power supply (6-12V, min 3A)

  2. Run basic test

    cd software/python
python gripper_control.py

  3. Try basic commands

    • Enter 45 to open gripper
    • Enter -45 to close gripper
    • Enter 0 to center
    • Press Enter to exit

Troubleshooting

Connection Issues

  • ✅ Check COM port in Device Manager (Windows) or ls /dev/ttyUSB* (Linux)
  • ✅ Verify servo power LED is on
  • ✅ Try different baud rates (default: 1000000)
  • ✅ Check cable connections

Movement Issues

  • ✅ Verify gear engagement with rack
  • ✅ Check for mechanical binding
  • ✅ Ensure bearings move freely on rods
  • ✅ Monitor servo temperature (max 60°C)

Software Issues

  • ✅ Install STServo SDK correctly
  • ✅ Check Python version (3.6+)
  • ✅ Verify serial port permissions: sudo chmod 666 /dev/ttyUSB0 (Linux)

Next Steps

🎉 Congratulations! Your gripper is working!

Now you can:

  • Mount on SO-ARM100/101 robot arm
  • Integrate with your control software
  • Add a camera to the camera holder
  • Create custom applications

Need Help?

Welcome to the parallel gripper community! 🤖