SO-101 Gear Synchronized Parallel Gripper

Open-source gear synchronized parallel gripper for the SO-101 robotic arm.

Features

• Gear synchronized jaws
• Single-servo actuation
• Parallel motion
• Centered gripping
• Integrated jaw and gear design
• 3D printable
• Optional wrist camera mount

Available Designs

Single Finger

Two Finger

Assembly Guide

Included CAD Files

STEP

• assembly.step : complete assembly
• body.step : main gripper body
• left_jaw.step : left jaw with integrated gear
• right_jaw.step : right jaw with integrated gear
• camera_mount.step : camera mount

STL

• body.stl : main gripper body
• left_jaw.stl : left jaw with integrated gear
• right_jaw.stl : right jaw with integrated gear
• camera_mount.stl : camera mount

Printing

Recommended settings:

• Layer height: 0.2 mm
• Material: PLA or PETG
• Infill: 20–30%
• Supports: Tree Supports Required

Important

The jaw components contain integrated gear geometry and overhangs.

Tree supports are strongly recommended.

Normal supports can be difficult to remove and may damage the gear teeth or leave marks on functional surfaces.

License

MIT

Support

If this project helped your robotics work, you can support future development here:

https://ko-fi.com/neoaxissystems

⭐ If you build one, I'd love to see your results.