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Code Issues 44 Packages Projects Releases Wiki Activity

Compliant soft finray gripper add-on (#124)

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* Update README.md

* Update README.md
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vectorgtwang
2025-09-02 07:40:01 -05:00
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README.md
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@@ -186,12 +186,12 @@ Extend your SO‑100/SO‑101 with these add-ons.
#### 0. XLeRobot
A dual-arm mobile robot for daily use, with 2x SO101 arms, 1x Lekiwi base, 1x 300Wh Anker Battery, 2x wrist RGB cameras, 1x head depth camera (with a 2-dof neck). Total cost 960$.
A dual-arm mobile robot for daily use, with 2x SO101 arms, 1x Lekiwi base, 1x 300Wh Anker Battery, 2x wrist RGB cameras, 1x head depth camera (with a 2-dof neck). Total cost 660$.
<img src="https://github.com/user-attachments/assets/588b7b3d-8d6a-471b-8d00-9253f9822c4a" height="300">
<img width="1725" height="1140" alt="82c2b72eab7c716b90fafac0a9caf895" src="https://github.com/user-attachments/assets/10819ef0-80a2-4cfe-be81-7daa8918cca1" />
[→ Full Documentation](https://xlerobot.readthedocs.io/en/latest/index.html), with detailed BOM, 3D models, assembly guide, and complete simulation platform.
<img src="https://github.com/user-attachments/assets/c1e45354-29e9-47b7-8d7d-8944496a3c22" height="300">
[→ Full Documentation](https://xlerobot.readthedocs.io/en/latest/index.html), with detailed BOM, 3D printing models, assembly guide, simulation, and teleop guide.
#### 1. Mount Helper
@@ -242,6 +242,12 @@ Add some flexibility to your gripper by downloading the compliant gripper parts
<img src="https://github.com/user-attachments/assets/26de0b8c-8bd6-4651-867f-1358532e2cc6" width="150">
#### 7. Compliant Gripper (new)
Printed with TPU 95A for the finger and PLA for the base.
Better structure and better grasp (both precision and power). No need to print support for the TPU finger. Requires 2 additional M3 screws, optional 3M gripper tape for higher friction.
![d2e57534a9e55a3d4dc0d644242cd044](https://github.com/user-attachments/assets/e814ed0a-72ce-43ad-80bf-5f03b7f16b90)
[→ Find on XLeRobot](https://github.com/Vector-Wangel/XLeRobot/tree/main/hardware)
</details>
## Debugging Motors