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Add description motor order SO-101 leader #1051

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Apr 29, 2025
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Add description motor order SO-101 leader #1051

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12 changes: 12 additions & 0 deletions examples/12_use_so101.md
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Expand Up @@ -225,6 +225,18 @@ Here is a video of the process:

## Step-by-Step Assembly Instructions

The follower arm uses 6x STS3215 motors with 1/345 gearing. The leader however uses three differently geared motors to make sure it can both sustain its own weight and it can be moved without requiring much force. Which motor is needed for which joint is shown in table below.

| Leader-Arm Axis | Motor | Gear Ratio |
|-----------------|:-------:|:----------:|
| Base / Shoulder Yaw | 1 | 1 / 191 |
| Shoulder Pitch | 2 | 1 / 345 |
| Elbow | 3 | 1 / 191 |
| Wrist Roll | 4 | 1 / 147 |
| Wrist Pitch | 5 | 1 / 147 |
| Gripper | 6 | 1 / 147 |


### Clean Parts
Remove all support material from the 3D-printed parts.

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