PingTi Arm
A human-arm-scale robotic arm based on SO-100, designed for use as a follower in teleoperation.
Project documentation
Before you build
Five answers, each linked to its source
What does it cost?
About $261single PingTi arm
A single PingTi arm costs about USD 261. README
Can I sell what I build?
YesCommercial use OK
Hardware Apache-2.0 · Software Apache-2.0. Licensing source
What’s open?
4 of 6CAD: AvailableBOM: AvailablePCB: Not documentedCode: Not documentedSim: AvailableGuide: Available
PCB, code not documented. All six files
Is it maintained?
Active
Latest activity Oct 20, 2026 · main repo last commit Oct 20, 2026 · 4 commits in the last 52 weeks · 3 contributors Activity
01 / Under the shell
The specifications.
Hardware, build and software on one sheet. Every fact links to where we found it.
PingTi Arm is an open-source robotic arm based on SO-100 and compatible with Lerobot. Its arm span is 600 mm excluding the end effector, and it supports up to 500 g at maximum arm span. It can serve as the follower arm in a teleoperation setup with an SO-100 leader arm.
Hardware
- Actuators
- Not documented Documentation
- Build
- 3D-printed · Links Documentation
- Arm span
- 600 mm, excluding the end effector README
- Payload
- Up to 500 g at maximum arm span README
Building it
02 / The files behind the robot
What’s open.
Six parts of the build, each checked separately. Gaps stay visible.
| Part | Status | What’s there | License | Source |
|---|---|---|---|---|
| CAD | Available | Printable STL parts and Fusion CAD files are present. | Not documented | stl_3d_printing/ |
| Bill of materials | Available | Bill of materials for a single PingTi arm. | Not documented | BOM_List.md |
| Electronics | Not documented | Not documented | Not documented | No source found |
| Code | Not documented | Not documented | Not documented | No source found |
| Simulation model | Available | URDF for simulation. | Not documented | urdf/ |
| Assembly guide | Available | Assembly tutorial. | Not documented | Assembe_tutorial.md |
03 / Know before you build
Can you sell it?
YesCommercial use OK
The whole repository, design files included, is Apache-2.0. You can build, modify and sell robots based on it, as long as you keep the license and copyright notices.
- Hardware
- Apache-2.0
- Software
- Apache-2.0
04 / The upstream project
Is it maintained?
ActiveLatest activity Oct 20, 2026, 10 days before the snapshot
The main repository’s last commit was Oct 20, 2026.
- Stars
- 55
- Forks
- 4
- Contributors
- 3
- Latest release
- None recorded
Snapshot captured Oct 30, 2026. Recorded figures, not live metrics. Active: activity within 90 days of the snapshot. Quiet: within a year. Dormant: longer.
05 / Parts & kits
A head start.
Maker-listed sellers only. No affiliate links or paid placement.
Kit availability is not documented in our reviewed sources.
06 / Side by side
Compare with other arms.
The three arms with the closest documented maker’s cost. Same sources, same rules.
| Robot | Cost | Open files | Can I sell it? | Runs on | Maintained | Stars |
|---|---|---|---|---|---|---|
| PingTi ArmThis robotnomorewzx | About $261single PingTi arm | 4 of 6 | YesHW Apache-2.0 · SW Apache-2.0 | LeRobot | ActiveOct 20, 2026 | 55 |
| AM-ARM200Li Yiteng and Wu Zhiyong | $243.33follower arm BOM | 4 of 6 | YesHW Apache-2.0 · SW Apache-2.0 | LeRobot | QuietJun 18, 2026 | 90 |
| ALTO 3D Printed 6 Axis Robotic Arm (WIP)liaochikon | About $400total for the robot | 3 of 6 | YesHW MIT · SW MIT | Python | Not documented | — |
| SO-101TheRobotStudio × Hugging Face | $121.94per follower arm | 5 of 6 | YesHW Apache-2.0 · SW Apache-2.0 | LeRobotMuJoCo | ActiveOct 6, 2026 | 7,831 |
| This robotPingTi Arm | AM-ARM200 | ALTO 3D Printed 6 Axis Robotic Arm (WIP) |
|---|---|---|
| Cost | ||
| About $261 | $243.33 | About $400 |
| Can I sell it? | ||
| Yes | Yes | Yes |
| Open files | ||
| 4 of 6 | 4 of 6 | 3 of 6 |
| Runs on | ||
| LeRobot | LeRobot | Python |
| Maintained | ||
| ActiveOct 20, 2026 | QuietJun 18, 2026 | Not documented |
Upkeep is measured against each robot’s own snapshot. Costs keep the maker’s scope, so check what each figure covers.
See them in the table07 / Follow the evidence
Open books.
Repository files are pinned to commit f2a81ff. Websites and papers are listed with their review dates.
- 01README.md at f2a81ffReviewed Oct 30, 2026
- 02LICENSE at f2a81ffReviewed Oct 30, 2026
- 03docs/BOM_List.md at f2a81ffReviewed Oct 30, 2026