AM-ARM200
Based on published sources · Not tested by us ·
License: Apache-2.0 · Details by part
Overview
Printable 6+1 DoF leader/follower arm pair using Feetech STS3215 and STS3095 servos, with LeRobot support supplied through the separate lerobot_alohamini fork. [S001] [S004] [S008]
AM-ARM200 is a 3D-printed leader and follower arm pair from Li Yiteng and Wu Zhiyong. The README describes a 6+1 DoF arm with a 1 kg payload and 52 cm reach, built for embodied-AI research and modelled on SO-ARM100. Payload and reach are upstream claims; this entry is source research only, with no build, calibration or teleoperation performed. [S001]
It suits builders who already know the SO-ARM and LeRobot workflow. The README's motor list adds a wrist_yaw joint and assigns STS3095 servos to shoulder pan, shoulder lift and elbow. The BOM page says SO100/SO101 owners can upgrade "by simply adding the missing parts", but the inspected files do not list which existing parts carry over. [S001] [S004]
Specifications
| Detail | Description |
|---|---|
| Type | Tabletop serial arm with a gripper; a servo-based leader arm drives the follower for teleoperation. Reported by source [S001] [S006] · Checked 2026-10-05 |
| Intended users | Makers, students and research labs with an FDM printer who are comfortable with the LeRobot command-line workflow Editorial assessment [S001] [S008] · Checked 2026-10-05 |
| Assembly | Photo-illustrated leader and follower guides: set servo IDs first, reset leader servos to single-turn, assemble base, shoulder, elbow, wrist and gripper, install heat-set inserts, camera mount and controller. Reported by source [S006] · Checked 2026-10-05 |
| Calibration | Servo IDs via the lerobot_alohamini debug command or Feetech FD tool; LeRobot calibration with am-leader-6dof and am-follower-6dof profiles, then power-cycle. Reported by source [S006] [S008] [S009] · Checked 2026-10-05 |
| Operating system | Linux (install guide targets x86-64 Ubuntu PCs) Reported by source [S008] · Checked 2026-10-05 |
| Computer needed | One PC for teleoperation and recording (no Raspberry Pi required); the training example uses a CUDA device or a rented cloud GPU. Reported by source [S008] · Checked 2026-10-05 |
3D preview
Preview not available yet. Design-source links are available. A configuration-matched assembly and its file-level reuse scope have not yet been reviewed for a hosted preview.
Model sources
Design-source links are available. A configuration-matched assembly and its file-level reuse scope have not yet been reviewed for a hosted preview.
Assembly and use
What to buy and print
Each arm needs its own Waveshare bus servo controller, USB-C cable and power adapter. The follower adds four STS3215 servos (12 V, 1/345), three STS3095 servos, six servo extension cables and a 12 V 4 A adapter; the leader uses seven 5 V, 1/147 STS3215 servos and a 5 V adapter. The follower list adds 74 M3×10 screws and four M3×5×4 heat-set inserts; the leader insert row (same M3×5×4 size) gives both 4 and "total 36 pcs", so confirm that quantity. The README lists the STS3095 as 1/399, while bom.md lists 1/345; confirm before ordering. [S001] [S004]
Print files sit in separate am-arm200/stl/follower and am-arm200/stl/leader folders (STEP copies in stp/), and the elbow and wrist pins come in bearing and no-bearing versions. No per-arm print manifest with quantities was identified, so reconcile file choices against the assembly guide. Parts print in PLA, PETG or ABS, and the guide strongly recommends six walls for the follower. The README estimates about 20 hours of printing and about 60 minutes to assemble a pair. [S001] [S005] [S006] [S007]
Route to a working pair
1. Assign each servo's ID before assembly, and reset the leader servos from factory multi-turn mode with the phase command. [S006] 2. Assemble both arms from the photo guides, including heat-set inserts. [S006] 3. Install lerobot_alohamini on one PC: the guide targets an x86-64 Ubuntu machine with a Python 3.12 conda environment, feetech-servo-sdk, pyzmq and FFmpeg 7.1.1. [S008] 4. Calibrate leader and follower with the so101_leader and so101_follower types and the am-leader-6dof and am-follower-6dof profiles, then power-cycle both arms. [S008] [S009] 5. Teleoperate and record; the training example uses a CUDA device or a rented cloud GPU. [S008]
The fork's v0.6.0 release notes say it was synced with LeRobot 0.6. The README also describes patching upstream LeRobot's motor table instead; neither route was tested here. The README says "CAD, firmware, and software included", yet the pinned archive contains no code, and no firmware folder was identified. [S001] [S007] [S009]
Cost scope
bom.md totals US$243.33 for the follower and US$144.44 for the leader in its US/EU price column; printed parts are self-printed and unpriced, and screws and inserts have no US price. The README instead gives about $243 and $137 in its tables and about $380 for the full kit. Treat these as dated upstream estimates, not re-quoted prices; filament, camera, host computer, shipping and tax are excluded. [S001] [S004]
Licenses and open questions
The only license file identified is the root Apache-2.0 LICENSE, declared at repository level for the CAD files and documentation; no hardware-specific license or NOTICE file was found, and purchased servos and boards are outside it. lerobot_alohamini carries its own Apache-2.0 LICENSE. [S003] [S007] [S010]
The repository has no published release; this entry covers commit 5b03af1 from June 18, 2026, which had 80 GitHub stars at retrieval, a dated popularity signal only. The README still says URDF files are "coming soon", although the archive contains URDF models. Servo firmware provenance, payload at full reach and the "Coming Soon" Pro variant remain unverified. [S001] [S002] [S007] [S011]
Cost
| Version | Price |
|---|---|
| AM-ARM200 follower arm, commit 5b03af1 bom.md | USD 243.33 [S004] Parts estimate |
Upstream US/EU price column · Checked 2026-10-05
| Included | 4× STS3215 and 3× STS3095 servos; Waveshare bus servo controller; 12 V 4 A power supply; USB-C cable and servo extension cables |
|---|---|
| Not included | 3D-printed parts and filament; Optional camera and bearings; Host computer; Shipping, taxes and assembly labor |
| Stock | Vendor stock and current prices not rechecked. |
| Delivery and tax | Not established; no delivered total quoted. |
Price details
Upstream bom.md follower total in its US/EU column; screws and heat-set inserts carry no US price. README rounds to about $240/$243. Not re-quoted.
Upstream US/EU price column · Checked 2026-10-05 · Quantity 1
Printed parts, host computer; leader arm needed for teleoperation.
| Version | Price |
|---|---|
| AM-ARM200 leader arm, commit 5b03af1 bom.md | USD 144.44 [S004] Parts estimate |
Upstream US price column · Checked 2026-10-05
| Included | 7× STS3215 5 V servos; Waveshare bus servo controller; 5 V power supply; USB-C cable |
|---|---|
| Not included | 3D-printed parts and filament; Optional camera and bearings; Host computer; Shipping, taxes and assembly labor |
| Stock | Vendor stock and current prices not rechecked. |
| Delivery and tax | Not established; no delivered total quoted. |
Price details
Upstream bom.md leader total; the README leader table totals about $137 using a $5 controller price. Not re-quoted.
Upstream US price column · Checked 2026-10-05 · Quantity 1
Printed parts; follower arm and host computer.
Source files and licenses
Mechanical files, documentation and a separately licensed software fork are available; firmware and electronics sources are not, and hardware-specific licensing is not established.
| Layer | Availability / license |
|---|---|
| mechanical design | available · Apache-2.0 STL and STEP files for leader and follower plus URDF models in the pinned archive. Apache-2.0 is the repository-level license file; no hardware-specific license identified. Purchased parts are not covered. [S003] [S007] |
| electronics | not found · License not fully assessed Uses purchased Waveshare bus servo controllers and Feetech servos; no custom electronics design files identified in the inspected sources. [S004] [S007] |
| firmware | not found · License not fully assessed README says firmware is included, but no firmware folder was identified in the pinned archive. Servos run vendor firmware configured with ID/phase tools. [S001] [S007] |
| software | available · Apache-2.0 Software is the separate lerobot_alohamini fork (release v0.6.0 preserved). Upstream LeRobot and Python dependencies carry their own terms. [S008] [S010] |
| documentation | available · Apache-2.0 README, BOM, print and assembly guides in the pinned archive under the root Apache-2.0 license file. [S001] [S003] [S004] [S006] |
No trained policy weights are distributed in the inspected sources; users train their own.
No dataset is distributed in the inspected sources; users record their own.
References
Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.
- S001 · Li Yiteng and Wu Zhiyong / AM-ARM contributors
AM-ARM README
Accessed 2026-10-05 · README.md at 5b03af1ef6c80595bd988e0137cf8e7c35811eb6Source notes
Overview, headline specifications, summary BOM tables, getting-started route, product line and team.
- S002 · Li Yiteng and Wu Zhiyong / AM-ARM contributors
AM-ARM repository revision and acquisition metadata
Accessed 2026-10-05 · 5b03af1ef6c80595bd988e0137cf8e7c35811eb6; commit date 2026-06-18T10:35:49Z; manifest retrieved 2026-10-05Source notes
No published release in the first 100 releases; default-branch commit snapshot archived with SHA-256 0d411bc8…; dated repository popularity.
- S003 · Li Yiteng and Wu Zhiyong / AM-ARM contributors
AM-ARM repository license
Accessed 2026-10-05 · LICENSE (Apache License 2.0 text)Source notes
Root Apache-2.0 license file; only license file identified in the pinned archive.
- S004 · Li Yiteng and Wu Zhiyong / AM-ARM contributors
AM-ARM200 bill of materials
Accessed 2026-10-05 · am-arm200/bom.mdSource notes
Follower, leader and optional part tables with US/EU and CN prices and per-arm totals.
- S005 · Li Yiteng and Wu Zhiyong / AM-ARM contributors
AM-ARM200 3D printing guide
Accessed 2026-10-05 · am-arm200/3d-print.mdSource notes
Printer, material, wall/infill and orientation recommendations.
- S006 · Li Yiteng and Wu Zhiyong / AM-ARM contributors
AM-ARM200 hardware assembly guide
Accessed 2026-10-05 · am-arm200/hardware_assembly.mdSource notes
Servo ID and phase configuration, leader and follower assembly sequence.
- S007 · Li Yiteng and Wu Zhiyong / AM-ARM contributors
Pinned AM-ARM archive file inventory
Accessed 2026-10-05 · Complete filename inventory of 5b03af1ef6c80595bd988e0137cf8e7c35811eb6 archive (155 members); not a completeness or printability testSource notes
Lists STL, STP, URDF, documentation and media paths; no firmware or software source folder identified.
- S008 · Li Yiteng / lerobot_alohamini contributors (fork of Hugging Face LeRobot)
lerobot_alohamini README and AM-ARM200 workflow
Accessed 2026-10-05 · README.md, docs/alohamini/install.md and docs/alohamini/am-arm200.md at e9d6362a969581ee0486966be1daa527c4b679e6 (release v0.6.0)Source notes
Shared software layer; installation, calibration, teleoperation, recording, training and evaluation commands for AM-ARM200.
- S009 · Li Yiteng / lerobot_alohamini contributors (fork of Hugging Face LeRobot)
lerobot_alohamini release notes and hardware profiles
Accessed 2026-10-05 · GitHub releases v0.6.0 and v0.3.0; docs/alohamini/profiles.md at e9d6362a969581ee0486966be1daa527c4b679e6Source notes
v0.6.0 notes state sync with upstream LeRobot 0.6; v0.3.0 added AM-ARM200 support; arm-profile names per SKU.
- S010 · Li Yiteng / lerobot_alohamini contributors (fork of Hugging Face LeRobot)
lerobot_alohamini license
Accessed 2026-10-05 · LICENSE (Apache License 2.0, Hugging Face copyright header)Source notes
Software repository license file.
- S011 · Li Yiteng and Wu Zhiyong / AM-ARM contributors
AM-ARM200 Pro note
Accessed 2026-10-05 · am-arm200-pro/README.mdSource notes
Pro variant marked Coming Soon; STS3250 servo upgrade described.
Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5
Change history
2026-10-05 — Created from Growbotics-listing lead; all claims checked against preserved upstream sources. No physical build or test.