Actuators & servos
Feetech STS3215 servo
Listed as: Feetech STS3215 12 V 30 kg.cm serial bus servo, arm · Feetech STS3215 servo, 7.4 V (6 follower + 6 leader; gears are removed from the 6 leader units) · Feetech STS3215 servo, 7.4 V, 1/345 gear (C001): all 6 follower joints + leader joint 2 (shoulder lift) · Feetech STS3215 servo, 7.4 V, 1/191 gear (C044): leader joints 1 (shoulder pan) and 3 (elbow flex) +3
- Used by
- 4 robots
- Units across robots
- 43
- Price range (sourced)
- $13.89 – $15.00
- Price points
- 6
- Regions with a vendor
- USEUCNGLOBAL
- MPN
- STS3215 (12 V) · STS3215 · STS3215 (C001) · STS3215 (C044) · STS3215 (C046)
01
Robots that use it
Quantity per robot, from its BOM| Robot | BOM line | Qty | List / unit | Source |
|---|---|---|---|---|
 HopeJR/huggingface/hopejr | Feetech STS3215 12 V 30 kg.cm serial bus servo, armactuator.sts3215-12v | 4 | — | github.com |
 SO-100 (SO-ARM100)/therobotstudio/so-100 | Feetech STS3215 servo, 7.4 V (6 follower + 6 leader; gears are removed from the 6 leader units)actuator.sts3215 | 12 | $15.00 | github.com |
 SO-101 (SO-ARM101)/therobotstudio/so-101 | Feetech STS3215 servo, 7.4 V, 1/345 gear (C001): all 6 follower joints + leader joint 2 (shoulder lift)actuator.sts3215-c001 | 7 | $13.89 | github.com |
| SO-101 (SO-ARM101)/therobotstudio/so-101 | Feetech STS3215 servo, 7.4 V, 1/191 gear (C044): leader joints 1 (shoulder pan) and 3 (elbow flex)actuator.sts3215-c044 | 2 | $13.89 | github.com |
| SO-101 (SO-ARM101)/therobotstudio/so-101 | Feetech STS3215 servo, 7.4 V, 1/147 gear (C046): leader joints 4 (wrist flex), 5 (wrist roll), 6 (gripper)actuator.sts3215-c046 | 3 | $13.89 | github.com |
 LeKiwi/uiuc/lekiwi | Feetech STS3215 servo, 7.4 V: 3 wheel drives (continuous rotation, IDs 7 left / 8 back / 9 right)actuator.sts3215-wheel | 3 | $15.00 | github.com |
| LeKiwi/uiuc/lekiwi | Feetech STS3215 servo, 7.4 V: SO-101 follower (on the base) + leader (on the laptop), 6 + 6actuator.sts3215-arm | 12 | $15.00 | github.com |
02
Vendors by region
As cited in the packages; search pages are markedUnited StatesUS
- Alibabacited by 1 robotno price
- Alibabacited by 1 robotno price
- Alibabacited by 1 robotno price
- Alibaba (6-pack listing)cited by 1 robotno price
- Alibaba (6-pack)cited by 1 robotno price
European UnionEU
- Alibaba€12.2 per upstream BOMcited by 1 robotno price
- Alibaba€12.2 per upstream BOMcited by 1 robotno price
- Alibaba€12.2 per upstream BOMcited by 1 robotno price
- Alibaba (6-pack listing)13€ per upstream BOMcited by 1 robotno price
- Alibaba (6-pack)13€ per upstream BOMcited by 1 robotno price
ChinaCN
- Alibaba (Feetech listing)cited by 1 robotno price
- TaoBao￥97.72 per upstream BOMcited by 2 robotsno price
- TaoBao￥99 per upstream BOMcited by 1 robotno price
Ships worldwideGLOBAL
- Akizuki Denshi (Japan)￥2,980 per upstream BOM (JP column)cited by 1 robotno price
- Akizuki Denshi (Japan)￥2,980 per upstream BOM (JP column)cited by 1 robotno price
- Akizuki Denshi (Japan)￥2,980 per upstream BOM (JP column)cited by 1 robotno price
03
Every price point
List prices are the maker's published estimates, not live quotes| USD / unit | Kind | Robot | Where it comes from |
|---|---|---|---|
| $13.89 | package list | therobotstudio/so-101 | github.com |
| $13.89 | package list | therobotstudio/so-101 | github.com |
| $13.89 | package list | therobotstudio/so-101 | github.com |
| $15.00 | package list | therobotstudio/so-100 | github.com |
| $15.00 | package list | uiuc/lekiwi | github.com |
| $15.00 | package list | uiuc/lekiwi | github.com |
04
Alternates
Named in the packages- LeRobot hope_jr_arm.py declares STS3250 for shoulder roll and all three wrist joints; see caveats
- Single-arm table links the single C001 (1/345) listing at $14: https://www.alibaba.com/product-detail/Top-Seller-Low-Cost-Feetech-STS3215_1600999461525.html?spm=a2747.product_manager.0.0.11be71d2ARQb82
- Building new today: the SO-101 leader uses 1/191 and 1/147 geared STS3215 (C044/C046) instead of de-geared servos. See therobotstudio/so-101.
- Follower only: 12 V STS3215 (30 kg·cm stall vs 16.5 kg·cm at 6 V for the 7.4 V part), upstream link https://www.alibaba.com/product-detail/6PCS-12V-30KG-STS3215-High-Torque_1601216757543.html. Requires a 12 V 5 A+ supply for that arm. The SO-101 leader is always 7.4 V.
- Leader bundle: all six leader servos (3x C046, 2x C044, 1x C001) in one Alibaba listing, https://www.alibaba.com/product-detail/6PCS-7-4V-STS3215-Servos-for_1601428584027.html?spm=a2747.product_manager.0.0.757c2c3clU7uH3
- Leader bundle listing (see the C044 line) covers these three as well.
- 12 V version: 12 V STS3215, $13.89 per upstream BOM (€13.38, ￥110), https://www.alibaba.com/product-detail/Feetech-STS3215-SO-ARM100-Servo-12V_1601292634404.html?spm=a2700.details.you_may_like.3.5ab1478e45kY42
- SO-101 leader gearing per the SO-ARM100 README: 2x 1/191 (C044) and 3x 1/147 (C046) plus 1x 1/345 (C001). The LeKiwi BOM lists 12 identical servos; see caveats.
- 12 V version: 12x 12 V STS3215, $13.89 per upstream BOM, https://www.alibaba.com/product-detail/Feetech-STS3215-SO-ARM100-Servo-12V_1601292634404.html?spm=a2700.details.you_may_like.3.5ab1478e45kY42