Industrial Robot Bill of Materials: Difference between revisions

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(Inserted new format for bill of materials to ensure consistency with that of other projects)
(Completed general developmental bill of materials)
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The following is a general bill of materials for the industrial robot with *minimum frame mechanical design*, *hydraulic drive through solenoid valve and stepper motor controlled needle valve*, and *basic electrical configuration*. Note: this bill of materials is not fully developed and may not reflect the optimal design of the industrial robot. As such, this BOM is still a work in progress.


{| cellpadding="6" cellspacing="0" border="1" align="left"
{| cellpadding="6" cellspacing="0" border="1" align="left"
Line 11: Line 13:


|-align="left"
|-align="left"
! Joint 1 Hydraulic Motor
! 1
! Rotates base of industrial robot
!est. 100-300
! surpluscenter
|-align="left"
! Joint 2 Hydraulic Motor
! 1
! Tilts main arm of industrial robot from base
! est. 100-300
! surpluscenter
|-align="left"
! Joint 3 Hydraulic Motor
! 1
! Tilts forearm of industrial robot from main arm
! est. 100-300
! surpluscenter
|-align="left"
! Joint 4 Hydraulic Motor
! 1
! Rotates wrist of industrial robot from forearm
! est. 100-300
! surpluscenter
|-align="left"
! Joint 5 Hydraulic Motor
! 1
! Tilts wrist of industrial robot
! est. 100-300
! surpluscenter
|-align="left"
! Joint 6 Hydraulic Motor
! 1
! Rotates end-effector of industrial robot
! est. 100-300
! surpluscenter
|-align="left"
! Foundation Underplate
! 1
! Ground contact mount for industrial robot (x by y by z steel plate)
!
!
|-align="left"
! Foundation Underplate Bolt
! 4
! Fastener piece for foundation underplate to ground
!
!
|-align="left"
! Foundation Underplate Washer
! 4
! Fastener piece for foundation underplate to ground
!
!
|-align="left"
! Foundation Underplate Nut
! 4
! Fastener piece for foundation underplate to ground
!
!
|-align="left"
! Foundation Underplate Welding Consumables
!
! Materials for welding the foundation pillars onto the foundation underplate
!
!
|-align="left"
! Foundation Pillar (x by y by z steel square tube/rod, t thickness)
! 4
! Supporting frame between foundation plates(x by y by z steel square tube/rod, t thickness)
!
!
|-align="left"
! Foundation Pillar L-piece
! 4
! Connector piece between foundation pillars and foundation overplate (x by y by z steel L-piece, t thickness)
!
!
|-align="left"
! Foundation Pillar Bolt
! 16
! Fastener piece between foundation pillars and foundation overplate
!
!
|-align="left"
! Foundation Pillar Washer
! 16
! Fastener piece between foundation pillars and foundation overplate
!
!
|-align="left"
! Foundation Pillar Nut
! 16
! Fastener piece between foundation pillars and foundation overplate
!
!
|-align="left"
! Foundation Overplate
! 1
! Mid-air mount for industrial robot (x by y by z steel plate, t thickness)
!
!
|-align="left"
! Baseplate
! 1
! Frame for industrial robot on top of foundation overplate (x by y by z steel plate, t thickness)
!
!
|-align="left"
! Joint 1 Shaft-Joint Connector
! 1
! Enables rotation of baseplate relative to foundation overplate and insertion of motor shaft for rotation control
!
!
|-align="left"
! Joint 1 Shaft-Joint Connector Bolt
! 10?
! Fastener piece
!
!
|-align="left"
! Joint 1 Shaft-Joint Connector Washer
! 10?
! Fastener piece
!
!
|-align="left"
! Joint 1 Shaft-Joint Connector Nut
! 10?
! Fastener piece
!
!
|-align="left"
! Joint 1 Motor Bolt
! 4?
! Fastener Piece
!
!
|-align="left"
! Joint 1 Motor Washer
! 4?
! Fastener Piece
!
!
|-align="left"
! Joint 1 Motor Nut
! 4?
! Fastener Piece
!
!
|-align="left"
! Baseplate L-piece
! 2
! For mounting of joint 2 hydraulic motor
!
!
|-align="left"
! Baseplate L-piece Bolt
! 6
! Fastener Piece
!
!
|-align="left"
! Baseplate L-piece Washer
! 6
! Fastener Piece
!
!
|-align="left"
! Baseplate L-piece Nut
! 6
! Fastener Piece
!
!
|-align="left"
! Joint 2 Hydraulic Motor Bolt
! 4?
! Fastener Piece
!
!
|-align="left"
! Joint 2 Hydraulic Motor Washer
! 4?
! Fastener Piece
!
!
|-align="left"
! Joint 2 Hydraulic Motor Nut
! 4?
! Fastener Piece
!
!
|-align="left"
! Joint 2 Shaft-joint Connector
! 1
! Enables tilting of main arm relative to baseplate and control through shaft
!
!
|-align="left"
! Joint 2 Shaft-joint Connector Bolt
! 10?
! Fastener Piece
!
!
|-align="left"
! Joint 2 Shaft-joint Connector Washer
! 10?
! Fastener Piece
!
!
|-align="left"
! Joint 2 Shaft-joint Connector Nut
! 10?
! Fastener Piece
!
!
|-align="left"
! Main Arm
! 1
! Frame piece from baseplate to elbow (x by y by z steel bar)
!
!
|-align="left"
! Joint 3 Shaft-joint Connector
! 1
! Enables tilting of forearm relative to main arm, and control through shaft
!
!
|-align="left"
! Joint 3 Shaft-joint Connector Bolt
! 10?
! Fastener Piece
!
!
|-align="left"
! Joint 3 Shaft-joint Connector Washer
! 10?
! Fastener Piece
!
!
|-align="left"
! Joint 3 Shaft-joint Connector Nut
! 10?
! Fastener Piece
!
!
|-align="left"
! Joint 3 Hydraulic Motor Bolt
! 4?
! Fastener Piece
!
!
|-align="left"
! Joint 3 Hydraulic Motor Washer
! 4?
! Fastener Piece
!
!
|-align="left"
! Joint 3 Hydraulic Motor Nut
! 4?
! Fastener Piece
!
!
|-align="left"
! Forearm
! 1
! Frame piece connecting elbow to wrist (x by y by z steel bar)
!
!
|-align="left"
! Forearm L-piece
! 1
! For mounting of joint 4 hydraulic motor (x by y by z steel L-piece, t thickness)
!
!
|-align="left"
! Forearm L-piece Bolt
! 4
! Fastener Piece
!
!
|-align="left"
! Forearm L-piece Washer
! 4
! Fastener Piece
!
!
|-align="left"
! Forearm L-piece Nut
! 4
! Fastener Piece
!
!
|-align="left"
! Joint 4 Hydraulic Motor Bolt
! 4?
! Fastener Piece
!
!
|-align="left"
! Joint 4 Hydraulic Motor Washer
! 4?
! Fastener Piece
!
!
|-align="left"
! Joint 4 Hydraulic Motor Nut
! 4?
! Fastener Piece
!
!
|-align="left"
! Joint 4 Shaft-joint Connector
! 1
! Enables rotation of wrist relative to forearm and control through shaft
!
!
|-align="left"
! Joint 4 Shaft-joint Connector Bolt
! 10?
! Fastener Piece
!
!
|-align="left"
! Joint 4 Shaft-joint Connector Washer
! 10?
! Fastener Piece
!
!
|-align="left"
! Joint 4 Shaft-joint Connector Nut
! 10?
! Fastener Piece
!
!
|-align="left"
! Wrist L-piece
! 1
! For mounting of joint 5 hydraulic motor
!
!
|-align="left"
! Joint 5 Hydraulic Motor Bolt
! 4?
! Fastener piece
!
!
|-align="left"
! Joint 5 Hydraulic Motor Washer
! 4?
! Fastener piece
!
!
|-align="left"
! Joint 5 Hydraulic Motor Nut
! 4?
! Fastener Piece
!
!
|-align="left"
! Joint 5 Shaft-joint Connector
! 1
! Enables tilting of wrist relative to forearm and control through shaft
!
!
|-align="left"
! Joint 5 Shaft-joint Connector Bolt
! 10?
! Fastener Piece
!
!
|-align="left"
! Joint 5 Shaft-joint Connector Washer
! 10?
! Fastener Piece
!
!
|-align="left"
! Joint 5 Shaft-joint Connector Nut
! 10?
! Fastener Piece
!
!
|-align="left"
! Wrist Plate
! 1
! Frame piece connecting Joint 5 L-piece to Joint 6 L-piece (x by y by z steel bar)
!
!
|-align="left"
! Joint 6 L-piece
! 1
! For mounting of joint 6 hydraulic motor (x by y by z L-piece, t thickness)
!
!
|-align="left"
! Joint 6 L-piece Bolt
! 4
! Fastener Piece
!
!
|-align="left"
! Joint 6 L-piece Washer
! 4
! Fastener Piece
!
!
|-align="left"
! Joint 6 L-piece Washer
! Fastener Piece
!
!
!
|-align="left"
! Joint 6 L-piece Nut
! Fastener Piece
!
!
!
|-align="left"
! Joint 6 Hydraulic Motor Bolt
! 4?
! Fastener Piece
!
!
|-align="left"
! Joint 6 Hydraulic Motor Washer
! 4?
! Fastener Piece
!
!
|-align="left"
! Joint 6 Hydraulic Motor Nut
! 4?
! Fastener Piece
!
!
|-align="left"
! Joint 6 Shaft-joint connector
! 1
! Enables rotation of end effector relative to wrist and control through shaft
!
!
|-align="left"
! Joint 6 Shaft-joint connector Bolt
! 10?
! Fastener Piece
!
!
|-align="left"
! Joint 6 Shaft-joint connector Washer
! 10?
! Fastener Piece
!
!
|-align="left"
! Joint 6 Shaft-joint connector washer
! Fastener piece
!
!
!
|-align="left"
! Joint 6 Shaft-joint connector nut
! Fastener Piece
!
!
!
|-align="left"
! Powercube
! 1?
! As prime mover-connected pump for hydraulic system
!
!
|-align="left"
! Hydraulic tank
! 1
! As reservoir for hydraulic system
!
!
|-align="left"
! Pump to Tank Tubing
! 1
! Hydraulic connector (x max pressure, y length, z dia)
!
!
|-align="left"
! Primary 4-way Pipe
! 1
! For tubing connection to: Pump, Secondary 4-way Pipe, Tertiary 4-way Pipe, Pressure Relief Valve
!
!
|-align="left"
! Pump to Primary 4-way Pipe Tubing
! 1
! Hydraulic connector (x max pressure, y length, z dia)
!
!
|-align="left"
! Pressure Relief Valve
! 1
! For maintaining continuity of flow when flow to all hydralic motors are cut
!
!
|-align="left"
! Primary 4-way Pipe to Pressure Relief Valve Tubing
! 1
! Hydraulic connector (x max pressure, y length, z dia)
!
!
|-align="left"
! Pressure Relief Valve to Tank Tubing
! 1
! Hydraulic connector (x max pressure, y length, z dia)
!
!
|-align="left"
! Secondary 4-way Pipe
! 1
! For tubing connection to: Primary 4-way Pipe, Joint 1 Needle Valve, Joint 2 Needle Valve, Joint 3 Needle Valve
!
!
|-align="left"
! Primary 4-way Pipe to Secondary 4-way Pipe Tubing
! 1
! Hydraulic connector (x pressure, y length, z dia)
!
!
|-align="left"
! Tertiary 4-way Pipe
! 1
! For tubing connection to: Primary 4-way Pipe, Joint 4 Needle Valve, Joint 5 Needle Valve, Joint 6 Needle Valve
!
!
|-align="left"
! Primary 4-way Pipe to Tertiary 4-way Pipe Tubing
! 1
! Hydraulic connector (x pressure, y length, z dia)
!
!
|-align="left"
! Joint 1 Needle Valve
! 1
! Flow control for joint 1 hydraulic motor
! 40-60
!
|-align="left"
! Joint 2 Needle Valve
! 1
! Flow control for joint 2 hydraulic motor
! 40-60
!
|-align="left"
! Joint 3 Needle Valve
! 1
! Flow control for joint 3 hydraulic motor
! 40-60
!
|-align="left"
! Secondary 4-way pipe to Joint 1 Needle Valve Tubing
! 1
! Hydraulic Connector
!
!
|-align="left"
! Secondary 4-way pipe to Joint 2 Needle Valve Tubing
! 1
! Hydraulic Connector
!
!
|-align="left"
! Secondary 4-way pipe to Joint 3 Needle Valve Tubing
! 1
! Hydraulic Connector
!
!
|-align="left"
! Joint 4 Needle Valve
! 1
! Flow control for joint 4 hydraulic motor
!
!
|-align="left"
! Joint 5 Needle Valve
! 1
! Flow control for joint 5 hydraulic motor
!
!
|-align="left"
! Joint 6 Needle Valve
! 1
! Flow control for joint 6 hydraulic motor
!
!
|-align="left"
! Tertiary 4-way Pipe to Joint 4 Needle Valve Tubing
! 1
! Hydraulic Connector
!
!
|-align="left"
! Tertiary 4-way Pipe to Joint 5 Needle Valve Tubing
! 1
! Hydraulic Connector
!
!
|-align="left"
! Tertiary 4-way Pipe to Joint 6 Needle Valve Tubing
! 1
! Hydraulic Connector
!
!
|-align="left"
! Joint 1 Solenoid Valve
! 1
! 2?-position directional control for joint 1 hydraulic motor
!
!
|-align="left"
! Joint 2 Solenoid Valve
! 1
! 2?-position directional control for joint 2 hydraulic motor
!
!
|-align="left"
! Joint 3 Solenoid Valve
! 1
! 2?-position directional control for joint 3 hydraulic motor
!
!
|-align="left"
! Joint 4 Solenoid Valve
! 1
! 2?-position directional control for joint 4 hydraulic motor
!
!
|-align="left"
! Joint 5 Solenoid Valve
! 1
! 2?-position directional control for joint 5 hydraulic motor
!
!
|-align="left"
! Joint 6 Solenoid Valve
! 1
! 2?-position directional control for joint 6 hydraulic motor
!
!
|-align="left"
! Joint 1 Needle Valve to Solenoid Valve Tubing
! 1
! Hydraulic connector
!
!
|-align="left"
! Joint 2 Needle Valve to Solenoid Valve Tubing
! 1
! Hydraulic connector
!  
!  
!  
!  
|-align="left"
! Joint 3 Needle Valve to Solenoid Valve Tubing
! 1
! Hydraulic connector
!  
!  
!
!  
!  


|-align="left"
|-align="left"
! Joint 4 Needle Valve to Solenoid Valve Tubing
! 1
! Hydraulic connector
!  
!  
!  
!  
|-align="left"
! Joint 5 Needle Valve to Solenoid Valve Tubing
! 1
! Hydraulic connector
!  
!  
!
|-align="left"
! Joint 6 Needle Valve to Solenoid Valve Tubing
! 1
! Hydraulic connector
!  
!  
!  
!  


|}
|-align="left"
! Joint 1 Solenoid Valve to Tank Tubing
! 1
! Hydraulic Connector
!
!
 
|-align="left"
! Joint 2 Solenoid Valve to Tank Tubing
! 1
! Hydraulic Connector
!
!
 
|-align="left"
! Joint 3 Solenoid Valve to Tank Tubing
! 1
! Hydraulic Connector
!
!
 
|-align="left"
! Joint 4 Solenoid Valve to Tank Tubing
! 1
! Hydraulic Connector
!
!
 
|-align="left"
! Joint 5 Solenoid Valve to Tank Tubing
! 1
! Hydraulic Connector
!
!
 
|-align="left"
! Joint 6 Solenoid Valve to Tank Tubing
! 1
! Hydraulic Connector
!
!
 
|-align="left"
! Joint 1 Solenoid Valve to Hydraulic Motor Tubing
! 2
! Hydraulic Connector
!
!


{| class="prettytable"
|-align="left"
| <center>'''Item'''</center>
! Joint 2 Solenoid Valve to Hydraulic Motor Tubing
| <center>'''Quantity'''</center>
! 2
| <center>'''Description'''</center>
! Hydraulic Connector
| <center>'''Weight (lb)'''</center>
!
| <center>'''Cost ($)'''</center>
!
| <center>'''Source''' </center>


|-
|-align="left"
|Steel Foundation
! Joint 3 Solenoid Valve to Hydraulic Motor Tubing
| 1
! 2
|Steel structure to become the foundation, itself resting on the ground, upon which the industrial robot rests
! Hydraulic Connector
|
!
|
!
|


|-
|-align="left"
|Steel Base
! Joint 4 Solenoid Valve to Hydraulic Motor Tubing
| 1
! 2
|Steel base to rest upon the foundation and connect to the rest of the industrial robot
! Hydraulic Connector
|
!
|
!
|


|-
|-align="left"
|Steel Shoulder-Tilt to Elbow-Tilt Connector
! Joint 5 Solenoid Valve to Hydraulic Motor Tubing
|1
! 2
|Steel structure to join the shoulder-tilt motor on the base to the elbow-tilt motor in mid-air
! Hydraulic Connector
|
!
|
!
|


|-
|-align="left"
|Steel Elbow-Tilt to Wrist-Rotation Connector
! Joint 6 Solenoid Valve to Hydraulic Motor Tubing
|1
! 2
|Steel structure to join the elbow-tilt motor in mid-air to the wrist-rotation motor in mid-air
! Hydraulic Connector
|
!
|
!
|


|-
|-align="left"
|Steel Wrist-Rotation to Wrist-Tilt Connector
! DC Power Supply
|1
! 1
|Steel structure to join the wrist-rotation motor in mid-air to the wrist-tilt motor in mid-air
! To power microcontroller, stepper motor drivers, solenoid drivers
|
!
|
!
|


|-
|-align="left"
|Steel Wrist-Tilt to End-Effector-Rotation Connector
! Power Supply to Microcontroller Wires
|1
!
|Steel structure to join the wrist-tilt motor in mid-air to the end-effector-rotation motor in mid-air
! Electric Connector
|
!
|
!
|


|-
|-align="left"
|End-effector
! Power Supply to Stepper Motor Driver Wires
|1
!
|The mechanical device used by the industrial robot to hold various module attachments for performing different tasks
! Electric Connector for 6 channels
|
!
|
!
|


|-
|-align="left"
|Shoulder-Rotation Motor
! Power Supply to Solenoid Driver Wires
|1
!
|Motor for rotating the shoulder of the industrial robot
! Electric Connector for 6 channels
|
!
|
!
|


|-
|-align="left"
|Shoulder-Tilt Motor
! Microcontroller
|1
! 1
|Motor for tilting the shoulder of the industrial robot
! To receive computer signals and shaft encoder signals; to command stepper motor drivers and solenoid drivers
|
! 50-100?
|
!
|
 
|-align="left"
! Stepper Motor Driver
! (6 channels total)
! To receive microcontroller signals and give electric current to stepper motors for joint 1-6 needle valves
! 50? total
!
 
|-align="left"
! Microcontroller to Stepper Motor Driver Wires
!
! Electric Connector for 6 channels
!
!
 
|-align="left"
! Stepper Motor
! 6
! To allow electric operation of joint 1-6 needle valves
!
!


|-
|-align="left"
|Elbow-Tilt Motor
! Stepper Motor Driver to Stepper Motor Wires
|1
!
|Motor for tilting the elbow of the industrial robot
! Electric Connector for 6 Motors
|
!
|
!
|


|-
|-align="left"
|Wrist-Rotation Motor
! Stepper Motor Bracket and Fasteners
|1
! 6
|Motor for rotating the wrist of the industrial robot
! To rigidly connect joint 1-6 stepper motors and needle valves as 6 pairs
|
!
|
!
|


|-
|-align="left"
|Wrist-Tilt Motor
! Solenoid Driver
|1
! (6 channels)
|Motor for tilting the wrist of the industrial robot
! To receive microcontroller signals and give electric current to joint 1-6 solenoid valves
|
!
|
!
|


|-
|-align="left"
|End-Effector-Rotation Motor
! Shaft Encoder
|1
! 6
|Motor for rotating the end-effector of the industrial robot
! To measure speed of joint 1-6 hydraulic motor shaft rotation
|
!
|
!
|


|-
|-align="left"
|
! Microcontroller to Shaft Encoder Wires
|
!
|
! Electric Connector for 6 Shaft Encoders
|
!
|
!
|


|}
|}


Note: Break down each item where possible or necessary
 


[[Category: Industrial Robot]]
[[Category: Industrial Robot]]

Revision as of 04:20, 21 May 2011


Industrial Robot
   Home  |  Research & Development  |  Bill of Materials  |  Manufacturing Instructions  |  User's Manual  |  User Reviews    Industrial Robot.png


The following is a general bill of materials for the industrial robot with *minimum frame mechanical design*, *hydraulic drive through solenoid valve and stepper motor controlled needle valve*, and *basic electrical configuration*. Note: this bill of materials is not fully developed and may not reflect the optimal design of the industrial robot. As such, this BOM is still a work in progress.

PART NAME NUMBER NEEDED PURPOSE COST SUGGESTED SOURCE
Joint 1 Hydraulic Motor 1 Rotates base of industrial robot est. 100-300 surpluscenter
Joint 2 Hydraulic Motor 1 Tilts main arm of industrial robot from base est. 100-300 surpluscenter
Joint 3 Hydraulic Motor 1 Tilts forearm of industrial robot from main arm est. 100-300 surpluscenter
Joint 4 Hydraulic Motor 1 Rotates wrist of industrial robot from forearm est. 100-300 surpluscenter
Joint 5 Hydraulic Motor 1 Tilts wrist of industrial robot est. 100-300 surpluscenter
Joint 6 Hydraulic Motor 1 Rotates end-effector of industrial robot est. 100-300 surpluscenter
Foundation Underplate 1 Ground contact mount for industrial robot (x by y by z steel plate)
Foundation Underplate Bolt 4 Fastener piece for foundation underplate to ground
Foundation Underplate Washer 4 Fastener piece for foundation underplate to ground
Foundation Underplate Nut 4 Fastener piece for foundation underplate to ground
Foundation Underplate Welding Consumables Materials for welding the foundation pillars onto the foundation underplate
Foundation Pillar (x by y by z steel square tube/rod, t thickness) 4 Supporting frame between foundation plates(x by y by z steel square tube/rod, t thickness)
Foundation Pillar L-piece 4 Connector piece between foundation pillars and foundation overplate (x by y by z steel L-piece, t thickness)
Foundation Pillar Bolt 16 Fastener piece between foundation pillars and foundation overplate
Foundation Pillar Washer 16 Fastener piece between foundation pillars and foundation overplate
Foundation Pillar Nut 16 Fastener piece between foundation pillars and foundation overplate
Foundation Overplate 1 Mid-air mount for industrial robot (x by y by z steel plate, t thickness)
Baseplate 1 Frame for industrial robot on top of foundation overplate (x by y by z steel plate, t thickness)
Joint 1 Shaft-Joint Connector 1 Enables rotation of baseplate relative to foundation overplate and insertion of motor shaft for rotation control
Joint 1 Shaft-Joint Connector Bolt 10? Fastener piece
Joint 1 Shaft-Joint Connector Washer 10? Fastener piece
Joint 1 Shaft-Joint Connector Nut 10? Fastener piece
Joint 1 Motor Bolt 4? Fastener Piece
Joint 1 Motor Washer 4? Fastener Piece
Joint 1 Motor Nut 4? Fastener Piece
Baseplate L-piece 2 For mounting of joint 2 hydraulic motor
Baseplate L-piece Bolt 6 Fastener Piece
Baseplate L-piece Washer 6 Fastener Piece
Baseplate L-piece Nut 6 Fastener Piece
Joint 2 Hydraulic Motor Bolt 4? Fastener Piece
Joint 2 Hydraulic Motor Washer 4? Fastener Piece
Joint 2 Hydraulic Motor Nut 4? Fastener Piece
Joint 2 Shaft-joint Connector 1 Enables tilting of main arm relative to baseplate and control through shaft
Joint 2 Shaft-joint Connector Bolt 10? Fastener Piece
Joint 2 Shaft-joint Connector Washer 10? Fastener Piece
Joint 2 Shaft-joint Connector Nut 10? Fastener Piece
Main Arm 1 Frame piece from baseplate to elbow (x by y by z steel bar)
Joint 3 Shaft-joint Connector 1 Enables tilting of forearm relative to main arm, and control through shaft
Joint 3 Shaft-joint Connector Bolt 10? Fastener Piece
Joint 3 Shaft-joint Connector Washer 10? Fastener Piece
Joint 3 Shaft-joint Connector Nut 10? Fastener Piece
Joint 3 Hydraulic Motor Bolt 4? Fastener Piece
Joint 3 Hydraulic Motor Washer 4? Fastener Piece
Joint 3 Hydraulic Motor Nut 4? Fastener Piece
Forearm 1 Frame piece connecting elbow to wrist (x by y by z steel bar)
Forearm L-piece 1 For mounting of joint 4 hydraulic motor (x by y by z steel L-piece, t thickness)
Forearm L-piece Bolt 4 Fastener Piece
Forearm L-piece Washer 4 Fastener Piece
Forearm L-piece Nut 4 Fastener Piece
Joint 4 Hydraulic Motor Bolt 4? Fastener Piece
Joint 4 Hydraulic Motor Washer 4? Fastener Piece
Joint 4 Hydraulic Motor Nut 4? Fastener Piece
Joint 4 Shaft-joint Connector 1 Enables rotation of wrist relative to forearm and control through shaft
Joint 4 Shaft-joint Connector Bolt 10? Fastener Piece
Joint 4 Shaft-joint Connector Washer 10? Fastener Piece
Joint 4 Shaft-joint Connector Nut 10? Fastener Piece
Wrist L-piece 1 For mounting of joint 5 hydraulic motor
Joint 5 Hydraulic Motor Bolt 4? Fastener piece
Joint 5 Hydraulic Motor Washer 4? Fastener piece
Joint 5 Hydraulic Motor Nut 4? Fastener Piece
Joint 5 Shaft-joint Connector 1 Enables tilting of wrist relative to forearm and control through shaft
Joint 5 Shaft-joint Connector Bolt 10? Fastener Piece
Joint 5 Shaft-joint Connector Washer 10? Fastener Piece
Joint 5 Shaft-joint Connector Nut 10? Fastener Piece
Wrist Plate 1 Frame piece connecting Joint 5 L-piece to Joint 6 L-piece (x by y by z steel bar)
Joint 6 L-piece 1 For mounting of joint 6 hydraulic motor (x by y by z L-piece, t thickness)
Joint 6 L-piece Bolt 4 Fastener Piece
Joint 6 L-piece Washer 4 Fastener Piece
Joint 6 L-piece Washer Fastener Piece
Joint 6 L-piece Nut Fastener Piece
Joint 6 Hydraulic Motor Bolt 4? Fastener Piece
Joint 6 Hydraulic Motor Washer 4? Fastener Piece
Joint 6 Hydraulic Motor Nut 4? Fastener Piece
Joint 6 Shaft-joint connector 1 Enables rotation of end effector relative to wrist and control through shaft
Joint 6 Shaft-joint connector Bolt 10? Fastener Piece
Joint 6 Shaft-joint connector Washer 10? Fastener Piece
Joint 6 Shaft-joint connector washer Fastener piece
Joint 6 Shaft-joint connector nut Fastener Piece
Powercube 1? As prime mover-connected pump for hydraulic system
Hydraulic tank 1 As reservoir for hydraulic system
Pump to Tank Tubing 1 Hydraulic connector (x max pressure, y length, z dia)
Primary 4-way Pipe 1 For tubing connection to: Pump, Secondary 4-way Pipe, Tertiary 4-way Pipe, Pressure Relief Valve
Pump to Primary 4-way Pipe Tubing 1 Hydraulic connector (x max pressure, y length, z dia)
Pressure Relief Valve 1 For maintaining continuity of flow when flow to all hydralic motors are cut
Primary 4-way Pipe to Pressure Relief Valve Tubing 1 Hydraulic connector (x max pressure, y length, z dia)
Pressure Relief Valve to Tank Tubing 1 Hydraulic connector (x max pressure, y length, z dia)
Secondary 4-way Pipe 1 For tubing connection to: Primary 4-way Pipe, Joint 1 Needle Valve, Joint 2 Needle Valve, Joint 3 Needle Valve
Primary 4-way Pipe to Secondary 4-way Pipe Tubing 1 Hydraulic connector (x pressure, y length, z dia)
Tertiary 4-way Pipe 1 For tubing connection to: Primary 4-way Pipe, Joint 4 Needle Valve, Joint 5 Needle Valve, Joint 6 Needle Valve
Primary 4-way Pipe to Tertiary 4-way Pipe Tubing 1 Hydraulic connector (x pressure, y length, z dia)
Joint 1 Needle Valve 1 Flow control for joint 1 hydraulic motor 40-60
Joint 2 Needle Valve 1 Flow control for joint 2 hydraulic motor 40-60
Joint 3 Needle Valve 1 Flow control for joint 3 hydraulic motor 40-60
Secondary 4-way pipe to Joint 1 Needle Valve Tubing 1 Hydraulic Connector
Secondary 4-way pipe to Joint 2 Needle Valve Tubing 1 Hydraulic Connector
Secondary 4-way pipe to Joint 3 Needle Valve Tubing 1 Hydraulic Connector
Joint 4 Needle Valve 1 Flow control for joint 4 hydraulic motor
Joint 5 Needle Valve 1 Flow control for joint 5 hydraulic motor
Joint 6 Needle Valve 1 Flow control for joint 6 hydraulic motor
Tertiary 4-way Pipe to Joint 4 Needle Valve Tubing 1 Hydraulic Connector
Tertiary 4-way Pipe to Joint 5 Needle Valve Tubing 1 Hydraulic Connector
Tertiary 4-way Pipe to Joint 6 Needle Valve Tubing 1 Hydraulic Connector
Joint 1 Solenoid Valve 1 2?-position directional control for joint 1 hydraulic motor
Joint 2 Solenoid Valve 1 2?-position directional control for joint 2 hydraulic motor
Joint 3 Solenoid Valve 1 2?-position directional control for joint 3 hydraulic motor
Joint 4 Solenoid Valve 1 2?-position directional control for joint 4 hydraulic motor
Joint 5 Solenoid Valve 1 2?-position directional control for joint 5 hydraulic motor
Joint 6 Solenoid Valve 1 2?-position directional control for joint 6 hydraulic motor
Joint 1 Needle Valve to Solenoid Valve Tubing 1 Hydraulic connector
Joint 2 Needle Valve to Solenoid Valve Tubing 1 Hydraulic connector
Joint 3 Needle Valve to Solenoid Valve Tubing 1 Hydraulic connector
Joint 4 Needle Valve to Solenoid Valve Tubing 1 Hydraulic connector
Joint 5 Needle Valve to Solenoid Valve Tubing 1 Hydraulic connector
Joint 6 Needle Valve to Solenoid Valve Tubing 1 Hydraulic connector
Joint 1 Solenoid Valve to Tank Tubing 1 Hydraulic Connector
Joint 2 Solenoid Valve to Tank Tubing 1 Hydraulic Connector
Joint 3 Solenoid Valve to Tank Tubing 1 Hydraulic Connector
Joint 4 Solenoid Valve to Tank Tubing 1 Hydraulic Connector
Joint 5 Solenoid Valve to Tank Tubing 1 Hydraulic Connector
Joint 6 Solenoid Valve to Tank Tubing 1 Hydraulic Connector
Joint 1 Solenoid Valve to Hydraulic Motor Tubing 2 Hydraulic Connector
Joint 2 Solenoid Valve to Hydraulic Motor Tubing 2 Hydraulic Connector
Joint 3 Solenoid Valve to Hydraulic Motor Tubing 2 Hydraulic Connector
Joint 4 Solenoid Valve to Hydraulic Motor Tubing 2 Hydraulic Connector
Joint 5 Solenoid Valve to Hydraulic Motor Tubing 2 Hydraulic Connector
Joint 6 Solenoid Valve to Hydraulic Motor Tubing 2 Hydraulic Connector
DC Power Supply 1 To power microcontroller, stepper motor drivers, solenoid drivers
Power Supply to Microcontroller Wires Electric Connector
Power Supply to Stepper Motor Driver Wires Electric Connector for 6 channels
Power Supply to Solenoid Driver Wires Electric Connector for 6 channels
Microcontroller 1 To receive computer signals and shaft encoder signals; to command stepper motor drivers and solenoid drivers 50-100?
Stepper Motor Driver (6 channels total) To receive microcontroller signals and give electric current to stepper motors for joint 1-6 needle valves 50? total
Microcontroller to Stepper Motor Driver Wires Electric Connector for 6 channels
Stepper Motor 6 To allow electric operation of joint 1-6 needle valves
Stepper Motor Driver to Stepper Motor Wires Electric Connector for 6 Motors
Stepper Motor Bracket and Fasteners 6 To rigidly connect joint 1-6 stepper motors and needle valves as 6 pairs
Solenoid Driver (6 channels) To receive microcontroller signals and give electric current to joint 1-6 solenoid valves
Shaft Encoder 6 To measure speed of joint 1-6 hydraulic motor shaft rotation
Microcontroller to Shaft Encoder Wires Electric Connector for 6 Shaft Encoders
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