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