Industrial Robot Bill of Materials: Difference between revisions

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(Added note for major changes and master diagram both to come)
(Added reformatted bill of materials)
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*Note: Major Changes to be applied along with master diagram.
=General Information=


*This bill of materials is a developmental version.
*Refer to master diagram on the development page for illustrated overview of the industrial robot's interconnections


{| cellpadding="6" cellspacing="0" border="1" align="left"
*This bill of materials is a developmental version
! PART NAME
! NUMBER NEEDED
! PURPOSE
! COST
! SUGGESTED SOURCE


|-align="left"
*Links are to sources for example pricing, the number representing the total cost of the item
! Foundation Underplate
! 1
! Ground contact mount for industrial robot (15" by 15" by 0.25" A36 steel plate)
! est. under 130
!


|-align="left"
=Hydraulics=
! Foundation Underplate Bolt
! 4
! Fastener piece for foundation underplate to support (stainless steel 18-8, 1/2”-13 diameter and threads per inch, 3" length, hex bolt)
! est. under 6
!


|-align="left"
*Powercube
! Foundation Underplate Washer
! 4
! Fastener piece for foundation underplate to support (stainless steel 18-8, 1/2” inner diameter washer)
! est. under 1
!


|-align="left"
*Hydraulic Motor (1-3, x3) [http://www.surpluscenter.com/item.asp?item=9-7076-200&catname=hydraulic 440]
! Foundation Underplate Nut
! 4
! Fastener piece for foundation underplate to support (stainless steel 18-8, 1/2”-13 diameter and threads per inch, hex nut)
! est under 2
!


|-align="left"
*Hydraulic Motor (4-6, x3) [http://www.surpluscenter.com/item.asp?item=9-7906-200&catname=hydraulic 285]
! MIG Welding Consumables
! Enough for welding the 4 pillars onto the foundation underplate and 2 hubs onto the tube
! Materials for welding the foundation pillars onto the foundation underplate
! guess under 10
!


|-align="left"
*Solenoid Valve (1-6, x6) [http://www.surpluscenter.com/item.asp?item=9-7748&catname=hydraulic 300]
! Foundation Pillar
! 4
! Supporting frame between foundation plates(2” by 2” by 10”, A36 steel square bar)
! est under 100
!


|-align="left"
*Solenoid Valve Subplate (1-6, x6) [http://www.surpluscenter.com/item.asp?catname=hydraulic&qty=1&item=9-4070-1 288]
! Foundation Angle
! 4
! Connector piece between foundation pillars and foundation overplate (4” width A by 2” width B by 2” length, A36 steel angle, 0.5” thickness)
! est under 6
!


|-align="left"
*Needle Valve (1-6, x6) [http://www.surpluscenter.com/item.asp?item=9-5302-50&catname= 258]
! Foundation Angle Bolt
! 12
! Fastener piece between foundation pillars and foundation overplate (stainless steel 18-8, 1/2”-13 diameter and threads per inch, 3” length, hex bolt)
! est under 5
!


|-align="left"
*Pressure Relief Valve [http://www.surpluscenter.com/item.asp?item=9-6135-50-H&catname=hydraulic 39]
! Foundation Angle Washer
! 12
! Fastener piece between foundation pillars and foundation overplate (stainless steel 18-8, 1/2” inner diameter washer)
! est under 1
!


|-align="left"
*Hose  (1/2”, 1/2NPTM-1/2NPTM, 108”, x4) [http://www.surpluscenter.com/item.asp?item=905-12108&catname=hydraulic 76]
! Foundation Angle Nut
! 12
! Fastener piece between foundation pillars and foundation overplate (stainless steel 18-8, 1/2”-13 diameter and threads per inch, hex nut)
! est under 2
!


|-align="left"
*Hose (1/2”, 1/2NPTM-1/2NPTM, 60”, x11) [http://www.surpluscenter.com/item.asp?item=905-1260&catname=hydraulic 143]
! Foundation Overplate
! 1
! Mid-air mount for industrial robot (11” by 11” by 0.25” A36 steel plate)
! est under 90
!


|-align="left"
*Hose (1/2”, 1/2NPTM-1/2NPTM, 48”, x4) [http://www.surpluscenter.com/item.asp?item=905-1248&catname=hydraulic 44]
! Joint 1 Gearbox
! 1
! Enables rotation of baseplate relative to foundation overplate and insertion of motor shaft for rotation control
! guess under 100
!


|-align="left"
*Hose (1/2”, 1/2NPTM-1/2NPTM, 12”, x6) [http://www.surpluscenter.com/item.asp?item=905-1212&catname=hydraulic 36]
! Joint 1 Gearbox Bolt
! 10?
! Fastener piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt)
! guess under 15
!


|-align="left"
*Hose (1/2”, 1/2NPTM-1/2NPTM, 24”, x13) [http://www.surpluscenter.com/item.asp?item=905-1224&catname=hydraulic 104]
! Joint 1 Gearbox Washer
! 10?
! Fastener piece (stainless steel 18-8, x inner diameter washer)
! guess under 2
!


|-align="left"
*Quick Connect Coupling (1/2NPTF-1/2NPTF x2) [http://www.surpluscenter.com/item.asp?item=928&catname=hydraulic 34]
! Joint 1 Gearbox Nut
! 10?
! Fastener piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut)
! guess under 4
!


|-align="left"
*4-way Coupling (1/2NPTF for all ports, x6)
! Joint 1 Hydraulic Motor
! 1
! Rotates base of industrial robot
!est under 150
! surpluscenter


|-align="left"
*Adaptor (SAE 6 – 1/2NPT, x24) [http://www.surpluscenter.com/item.asp?item=9-6405-6-8&catname=hydraulic 72)
! Joint 1 Motor Bolt
! 4?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt)
! guess under 6
!


|-align="left"
=Control Electronics=
! Joint 1 Motor Washer
! 4?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)
! guess under 1
!


|-align="left"
*Microcontroller [http://www.sparkfun.com/products/9949 65]
! Joint 1 Motor Nut
! 4?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut)
! guess under 1
!


|-align="left"
*Solenoid Driver (x2) [http://store.makerbot.com/electronics/electronics-kits/pwm-driver-v1-1-kit.html 26]
! Base Angle
! 1
! Base for industrial robot on top of foundation overplate (8” width A by 8” width B by 8” length A36 steel angle, 1” thickness)
! est under 90
!


|-align="left"
*Stepper Motor Driver (x6) [http://www.sparkfun.com/products/10267 90]
! Joint 2 Hydraulic Motor
! 1
! Tilts main arm of industrial robot from base
! es under 150
! surpluscenter


|-align="left"
*Wire (12 gauge, 25')
! Joint 2 Hydraulic Motor Bolt
! 4?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt)
! guess under 6
!


|-align="left"
=Frame=
! Joint 2 Hydraulic Motor Washer
! 4?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)
! guess under 1
!


|-align="left"
*Foundation Underplate (16" by 16" by 0.25" A36 steel plate [https://www.metalsupermarkets.com/catalog/STEEL-HOT_ROLLED/PLATE/A36 33]
! Joint 2 Hydraulic Motor Nut
! 4?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut)
! guess under 1
!


|-align="left"
*Foundation Pillar (2” by 2” by 12”, A36 steel square bar, x4) [http://www.onlinemetals.com/merchant.cfm?pid=10285&step=4&showunits=inches&id=844&top_cat=849 96]
! Joint 2 Gearbox
! 1
! Enables tilting of main arm relative to baseplate and control through shaft
! guess under 100
!


|-align="left"
*Foundation Overplate (12” by 12” by 0.25” A36 steel plate) [https://www.metalsupermarkets.com/catalog/STEEL-HOT_ROLLED/PLATE/A36 27]
! Joint 2 Gearbox Bolt
! 10?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt)
! guess under 15
!


|-align="left"
*Base Angle (8”A/8”B by 12”L by 1”T A36 steel angle) [http://www.onlinemetals.com/merchant.cfm?pid=15568&step=4&showunits=inches&id=276&top_cat=849 113]
! Joint 2 Gearbox Washer
! 10?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)  
! guess under 2
!


|-align="left"
*Main Arm (2” by 6” by 30” A36 steel bar) [http://www.metalsupermarkets.com/catalog/STEEL-HOT_ROLLED/FLAT/A36 160]
! Joint 2 Gearbox Nut
! 10?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut)
! guess under 4
!


|-align="left"
*Forearm Angle (8”A/8”B by 12”L by 0.5”T A36 steel angle)  
! Main Arm
! 1
! Frame piece from baseplate to elbow (24“ by 6” by 2” A36 steel bar)
! est under 150
!


|-align="left"
*Forearm Plate A (8” by 8” by 0.25T A36 steel plate, x2) [https://www.metalsupermarkets.com/catalog/STEEL-HOT_ROLLED/PLATE/A36 56]
! Joint 3 Gearbox
! 1
! Enables tilting of forearm relative to main arm, and control through shaft
! guess under 100
!


|-align="left"
*Forearm (4” by 4” by 18” by 0.25T A36 steel square tube) [http://www.metalsupermarkets.com/catalog/STEEL-HOT_ROLLED/TUBE_SQR/STRUCTURAL 38]
! Joint 3 Gearbox Bolt
! 10?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt)
! guess under 15
!


|-align="left"
*Wrist Angle (10”A/10”B by 10”L by 0.5”T A36 steel angle)
! Joint 3 Gearbox Washer
! 10?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)  
! guess under 2
!


|-align="left"
*End-effector Angle (8”A/8”B by 8”L by 0.5”T A36 steel angle)
! Joint 3 Gearbox Nut
! 10?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut)
! guess under 4
!


|-align="left"
=Gear Reducer 1=
! Joint 3 Hydraulic Motor
! 1
! Tilts forearm of industrial robot from main arm
! est under 150
! surpluscenter


|-align="left"
*Gearbox Input/Output Plate (6” x 8” x 0.25”, A36 steel plate, x2)
! Joint 3 Hydraulic Motor Bolt
*Gearbox Side A Plate (6” x 3” x 1” A36 steel plate, x2)
! 4?
*Gearbox Side B Plate (8” x 3” x 0.25” A36 steel plate, x2)
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt)
*Gearbox Angle (1”A/1”B, 6”L, 0.25”T, A36 steel angle, x4)
! guess under 6
*Gearbox Output Shaft
!
*Gearbox Input Spur Gear
*Gearbox Output Spur Gear
*Gearbox Output Hub
*Gearbox Input Key
*Gearbox Output Key


|-align="left"
=Gear Reducer 2=
! Joint 3 Hydraulic Motor Washer
! 4?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)
! guess under 1
!


|-align="left"
*Gearbox Input/Output Plate (6” x 1” x 8”, A36 steel plate, x2)
! Joint 3 Hydraulic Motor Nut
*Gearbox Side A Plate (x2)
! 4?
*Gearbox Side B Plate (x2)
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut)
*Gearbox Output Shaft
! guess under 1
*Gearbox Input Spur Gear
!
*Gearbox Output Spur Gear
*Gearbox Output Hub
*Gearbox Input Key
*Gearbox Output Key


|-align="left"
=Gear Reducer 3=
! Joint 4 Hydraulic Motor
! 1
! Rotates wrist of industrial robot from forearm
! est under 150
! surpluscenter


|-align="left"
*Gearbox Input/Output Plate (6” x 1” x 8”, A36 steel plate, x2)
! Joint 4 Hydraulic Motor Bolt
*Gearbox Side A Plate (x2)
! 4?
*Gearbox Side B Plate (x2)
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt)
*Gearbox Output Shaft
! guess under 6
*Gearbox Input Spur Gear
!
*Gearbox Output Spur Gear
*Gearbox Output Hub
*Gearbox Input Key
*Gearbox Output Key


|-align="left"
=Gear Reducer 4=
! Joint 4 Hydraulic Motor Washer
! 4?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)
! guess under 1
!


|-align="left"
*Gearbox Input/Output Plate (6” x 1” x 8”, A36 steel plate, x2)
! Joint 4 Hydraulic Motor Nut
*Gearbox Side A Plate (x2)
! 4?
*Gearbox Side B Plate (x2)
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut)
*Gearbox Output Shaft
! guess under 1
*Gearbox Input Spur Gear
!
*Gearbox Output Spur Gear
*Gearbox Output Hub
*Gearbox Input Key
*Gearbox Output Key


|-align="left"
=Gear Reducer 5=
! Joint 4 Gearbox
! 1
! Enables rotation of wrist relative to forearm and control through shaft
! guess under 100
!


|-align="left"
*Gearbox Input/Output Plate (6” x 1” x 8”, A36 steel plate, x2)
! Joint 4 Gearbox Bolt
*Gearbox Side A Plate (x2)
! 10?
*Gearbox Side B Plate (x2)
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt)
*Gearbox Output Shaft
! guess under 15
*Gearbox Input Spur Gear
!
*Gearbox Output Spur Gear
*Gearbox Output Hub
*Gearbox Input Key
*Gearbox Output Key


|-align="left"
=Gear Reducer 6=
! Joint 4 Gearbox Washer
! 10?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)
! guess under 1
!


|-align="left"
*Gearbox Input/Output Plate (6” x 1” x 8”, A36 steel plate, x2)
! Joint 4 Gearbox Nut
*Gearbox Side A Plate (x2)
! 10?
*Gearbox Side B Plate (x2)
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut)
*Gearbox Output Shaft
! guess under 2
*Gearbox Input Spur Gear
!
*Gearbox Output Spur Gear
*Gearbox Output Hub
*Gearbox Input Key
*Gearbox Output Key


|-align="left"
=Stepper Motor Mounts=
! Forearm Angle
! 1
! For mounting of joint 4 hydraulic motor (8” width A by 8” width B by 12” length steel L-piece, 1” thickness)
! est under 150
!


|-align="left"
*Stepper Motor (x6) [http://www.adafruit.com/products/324 84]
! Forearm Angle Bolt
! 4
! Fastener Piece (stainless steel 18-8, 1/2”-13 diameter and threads per inch, z length, hex bolt)
! est under 6
!


|-align="left"
*Stepper Angle (6”A/4”B, 4”L, 0.3125”T, x6) [http://www.onlinemetals.com/merchant.cfm?pid=9982&step=4&showunits=inches&id=276&top_cat=849 44]
! Forearm Angle Washer
! 4
! Fastener Piece (stainless steel 18-8, 1/2” inner diameter washer)
! est under 1
!


|-align="left"
*Holding Plate (4” by 4” by 0.125” A36 steel plate, x12) [http://www.onlinemetals.com/merchant.cfm?pid=10008&step=4&showunits=inches&id=802&top_cat=849 48]
! Forearm Angle Nut
! 4
! Fastener Piece (stainless steel 18-8, 1/2”-13 diameter and threads per inch, hex nut)
! est under 2
!


|-align="left"
*Shaft Bar (1” by 1” by 3” A36 steel bar, x6) [http://www.onlinemetals.com/merchant.cfm?pid=10282&step=4&showunits=inches&id=844&top_cat=849 14]
! Forearm Hub 1
! 1
! Square plate at one end of forearm (8” by 8” by 0.5” A36 steel plate)
! guess under 50
!


|-align="left"
*Setscrews ( )
! Forearm
*Bolts ( )
! 1
*Washers ( )
! Tube connecting elbow to wrist (18” length by 6” diameter by 0.5” thickness A36 steel tube)
*Nuts ( )
! guess under 150
!


|-align="left"
=Shaft Encoders=
! Forearm Hub 2
! 1
! Square plate at one end of forearm (8” by 8” by 0.5” A36 steel plate)
! guess under 50
!


|-align="left"
*Phototransistor Pair (x6) [http://parts.digikey.com/ca/1/43466-opto-sensor-dual-pkg-slot-type-ee-sx1031.html 30]
! Wrist Angle
! 1
! For mounting of joint 5 hydraulic motor (8” width A by 8” width B by 8” length steel angle, 1” thickness)
! est under 90
!


|-align="left"
*Schmidt Trigger IC (x6) [http://parts.digikey.com/1/parts/1078848-ic-schmitt-trigger-hex-14-soic-mc14106bdg.html 6]
! Wrist Angle Bolt
! 4
! Fastener Piece (1/2”-13, 3”, 18-8 Stainless Steel hex bolt)
! est under 5
!


|-align="left"
*Metal Disc (x6)
! Wrist Angle Nut
! 4
! Fastener Piece (1/2”-13, 18-8 Stainless Steel hex nut)
! est under 1
!


|-align="left"
*Bolts ( )
! Wrist Angle Washer
! 4
! Fastener Piece (1/2”, 18-8 Stainless Steel washer)
! est under 1
!


|-align="left"
=Welding=
! Joint 5 Hydraulic Motor
! 1
! Tilts wrist of industrial robot
! est under 150
! surpluscenter


|-align="left"
*Welding Consumables
! Joint 5 Hydraulic Motor Bolt
! 4?
! Fastener piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt)
! guess under 6
!
 
|-align="left"
! Joint 5 Hydraulic Motor Washer
! 4?
! Fastener piece (stainless steel 18-8, x inner diameter washer)
! guess under 1
!
 
|-align="left"
! Joint 5 Hydraulic Motor Nut
! 4?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut)
! guess under 1
!
 
|-align="left"
! Joint 5 Gearbox
! 1
! Enables tilting of wrist relative to forearm and control through shaft
! guess under 100
!
 
|-align="left"
! Joint 5 Gearbox Bolt
! 10?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt)
! guess under 15
!
 
|-align="left"
! Joint 5 Gearbox Washer
! 10?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)
! guess under 2
!
 
|-align="left"
! Joint 5 Gearbox Nut
! 10?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut)
! guess under 2
!
 
|-align="left"
! Joint 6 Angle
! 1
! For mounting of joint 6 hydraulic motor (8”A by 8”B by 8”Length L-piece, 0.5” thickness)
! est under 90
!
 
|-align="left"
! Joint 6 Angle Bolt
! 4
! Fastener Piece (stainless steel 18-8, 1/2”-13” diameter and threads per inch, z length, hex bolt)
! est under 6
!
 
|-align="left"
! Joint 6 Angle Washer
! 4
! Fastener Piece (stainless steel 18-8, 1/2” inner diameter washer)
! est under 2
!
 
|-align="left"
! Joint 6 Angle Nut
! 4
! Fastener Piece (stainless steel 18-8, 1/2”-13 diameter and threads per inch, hex nut)
! est under 2
!
 
|-align="left"
! Joint 6 Hydraulic Motor
! 1
! Rotates end-effector of industrial robot
! est under 150
! surpluscenter
 
|-align="left"
! Joint 6 Hydraulic Motor Bolt
! 4?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt)
! guess under 6
!
 
|-align="left"
! Joint 6 Hydraulic Motor Washer
! 4?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)
! guess under 2
!
 
|-align="left"
! Joint 6 Hydraulic Motor Nut
! 4?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut)
! guess under 2
!
 
|-align="left"
! Joint 6 Gearbox
! 1
! Enables rotation of end effector relative to wrist and control through shaft
! guess under 100
!
 
|-align="left"
! Joint 6 Gearbox Bolt
! 10?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt)
! guess under 15
!
 
|-align="left"
! Joint 6 Gearbox Washer
! 10?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)
! guess under 2
!
 
|-align="left"
! Joint 6 Gearbox nut
! 10?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut)
! guess under 2
!
 
|-align="left"
! Powercube
! 1?
! As prime mover-connected pump and reservoir for hydraulic system
! P
!
 
|-align="left"
! Primary 4-way Pipe
! 1
! For tubing connection to: Pump, Secondary 4-way Pipe, Tertiary 4-way Pipe, Pressure Relief Valve
! guess under 20
!
 
|-align="left"
! Pump to Primary 4-way Pipe Hose     
! 1
! Hydraulic connector (x max pressure, y length, z dia)
! guess under 20
!
 
|-align="left"
! Pressure Relief Valve
! 1
! For maintaining continuity of flow when flow to all hydraulic motors is cut
! est under 50
! surpluscentre
 
|-align="left"
! Primary 4-way Pipe to Pressure Relief Valve Hose     
! 1
! Hydraulic connector (x max pressure, y length, z dia)
! guess under 20
!
 
|-align="left"
! Pressure Relief Valve to Tank Hose     
! 1
! Hydraulic connector (x max pressure, y length, z dia)
! guess under 20
!
 
|-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
! guess under 20
!
 
|-align="left"
! Primary 4-way Pipe to Secondary 4-way Pipe Hose     
! 1
! Hydraulic connector (x pressure, y length, z dia)
! guess under 20
!
 
|-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
! guess under 20
!
 
|-align="left"
! Primary 4-way Pipe to Tertiary 4-way Pipe Hose     
! 1
! Hydraulic connector (x pressure, y length, z dia)
! guess under 20
!
 
|-align="left"
! Joint 1 Needle Valve
! 1
! Flow control for joint 1 hydraulic motor
! est under 43
!
 
|-align="left"
! Joint 2 Needle Valve
! 1
! Flow control for joint 2 hydraulic motor
! est under 43
!
 
|-align="left"
! Joint 3 Needle Valve
! 1
! Flow control for joint 3 hydraulic motor
! est under 43
!
 
|-align="left"
! Secondary 4-way pipe to Joint 1 Needle Valve Hose     
! 1
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Secondary 4-way pipe to Joint 2 Needle Valve Hose     
! 1
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Secondary 4-way pipe to Joint 3 Needle Valve Hose     
! 1
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Joint 4 Needle Valve
! 1
! Flow control for joint 4 hydraulic motor
! est under 43
! surpluscentre
 
|-align="left"
! Joint 5 Needle Valve
! 1
! Flow control for joint 5 hydraulic motor
! est under 43
! surpluscentre
 
|-align="left"
! Joint 6 Needle Valve
! 1
! Flow control for joint 6 hydraulic motor
! est under 43
! surpluscentre
 
|-align="left"
! Tertiary 4-way Pipe to Joint 4 Needle Valve Hose     
! 1
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Tertiary 4-way Pipe to Joint 5 Needle Valve Hose     
! 1
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Tertiary 4-way Pipe to Joint 6 Needle Valve Hose     
! 1
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Joint 1 Solenoid Valve
! 1
! 2?-position directional control for joint 1 hydraulic motor
! est under 50
! surpluscentre
 
|-align="left"
! Joint 2 Solenoid Valve
! 1
! 2?-position directional control for joint 2 hydraulic motor
! est under 50
! surpluscentre
 
|-align="left"
! Joint 3 Solenoid Valve
! 1
! 2?-position directional control for joint 3 hydraulic motor
! est under 50
! surpluscentre
 
|-align="left"
! Joint 4 Solenoid Valve
! 1
! 2?-position directional control for joint 4 hydraulic motor
! est under 50
! surpluscentre
 
|-align="left"
! Joint 5 Solenoid Valve
! 1
! 2?-position directional control for joint 5 hydraulic motor
! est under 50
! surpluscentre
 
|-align="left"
! Joint 6 Solenoid Valve
! 1
! 2?-position directional control for joint 6 hydraulic motor
! est under 50
! surpluscentre
 
|-align="left"
! Joint 1 Needle Valve to Solenoid Valve  Hose     
! 1
! Hydraulic connector
! guess under 20
!
 
|-align="left"
! Joint 2 Needle Valve to Solenoid Valve Hose     
! 1
! Hydraulic connector
! guess under 20
!
 
|-align="left"
! Joint 3 Needle Valve to Solenoid Valve Hose
! 1
! Hydraulic connector
! guess under 20
!
 
|-align="left"
! Joint 4 Needle Valve to Solenoid Valve Hose
! 1
! Hydraulic connector
! guess under 20
!
 
|-align="left"
! Joint 5 Needle Valve to Solenoid Valve Hose
! 1
! Hydraulic connector
! guess under 20
!
 
|-align="left"
! Joint 6 Needle Valve to Solenoid Valve Hose
! 1
! Hydraulic connector
! guess under 20
!
 
|-align="left"
! Joint 1 Solenoid Valve to Tank Hose
! 1
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Joint 2 Solenoid Valve to Tank Hose
! 1
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Joint 3 Solenoid Valve to Tank Hose
! 1
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Joint 4 Solenoid Valve to Tank Hose
! 1
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Joint 5 Solenoid Valve to Tank Hose
! 1
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Joint 6 Solenoid Valve to Tank Hose
! 1
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Joint 1 Solenoid Valve to Hydraulic Motor Hose
! 2
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Joint 2 Solenoid Valve to Hydraulic Motor Hose
! 2
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Joint 3 Solenoid Valve to Hydraulic Motor Hose
! 2
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Joint 4 Solenoid Valve to Hydraulic Motor Hose
! 2
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Joint 5 Solenoid Valve to Hydraulic Motor Hose
! 2
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! Joint 6 Solenoid Valve to Hydraulic Motor Tubing
! 2
! Hydraulic Connector
! guess under 20
!
 
|-align="left"
! DC Power Supply
! 1
! To power various electronic components
! guess under 100
!
 
|-align="left"
! Power Supply to Stepper Motor Driver Wires
!
! Electric Connector for 6 channels
! guess under 10
!
 
|-align="left"
! Power Supply to Solenoid Driver Wires
!
! Electric Connector for 6 channels
! guess under 10
!
 
|-align="left"
! Microcontroller
! 1
! To receive computer signals and shaft encoder signals; to command stepper motor drivers and solenoid drivers (ex. arduino mega 2560)
! est under 60
!
 
|-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
! est under 60
!
 
|-align="left"
! Microcontroller to Stepper Motor Driver Wires
!
! Electric Connector for 6 channels
! guess under 10
!
 
|-align="left"
! Stepper Motor
! 6
! To allow electric operation of joint 1-6 needle valves
! est under 160
! ex. Pololu
 
|-align="left"
! Stepper Motor Driver to Stepper Motor Wires
!
! Electric Connector for 6 Motors
! guess under 10
!
 
|-align="left"
! Stepper Motor Angle
! 6
! Main Bracket Component for Stepper Motor and Needle Valve (
! est under 40
!
 
|-align="left"
! Stepper Motor Hub
! 6
! To connect onto stepper motors as component for bracket
! guess under 20
!
 
|-align="left"
! Needle Valve Hub
! 6
! To connect onto needle valve handle as component for bracket
! guess under 20
!
 
|-align="left"
! Needle Valve Plate
! 12
! Bracket Component to hold needle valve
! guess under 20
!
 
|-align="left"
! Needle Valve Bolt
! 18
! Fastener Piece
! guess under 20
!
 
|-align="left"
! Solenoid Driver
! (6 channels)
! To receive microcontroller signals and give electric current to joint 1-6 solenoid valves (PWM Driver 1.1 from reprapwiki)
! est under 26
!
 
|-align="left"
! Shaft Encoder
! 6
! To measure speed of joint 1-6 shaft rotation
! guess under 300
!
 
|-align="left"
! Microcontroller to Shaft Encoder Wires
!
! Electric Connector for 6 Shaft Encoders
! guess under 20
!
 
|-align="left"
! Grand Total
!
! Sum of guesses, informed estimates
! 5013 + P
!
 
|}






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

Revision as of 00:39, 11 June 2011


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


General Information

  • Refer to master diagram on the development page for illustrated overview of the industrial robot's interconnections
  • This bill of materials is a developmental version
  • Links are to sources for example pricing, the number representing the total cost of the item

Hydraulics

  • Powercube
  • Hydraulic Motor (1-3, x3) 440
  • Hydraulic Motor (4-6, x3) 285
  • Solenoid Valve (1-6, x6) 300
  • Solenoid Valve Subplate (1-6, x6) 288
  • Needle Valve (1-6, x6) 258
  • Pressure Relief Valve 39
  • Hose (1/2”, 1/2NPTM-1/2NPTM, 108”, x4) 76
  • Hose (1/2”, 1/2NPTM-1/2NPTM, 60”, x11) 143
  • Hose (1/2”, 1/2NPTM-1/2NPTM, 48”, x4) 44
  • Hose (1/2”, 1/2NPTM-1/2NPTM, 12”, x6) 36
  • Hose (1/2”, 1/2NPTM-1/2NPTM, 24”, x13) 104
  • Quick Connect Coupling (1/2NPTF-1/2NPTF x2) 34
  • 4-way Coupling (1/2NPTF for all ports, x6)

Control Electronics

  • Microcontroller 65
  • Solenoid Driver (x2) 26
  • Stepper Motor Driver (x6) 90
  • Wire (12 gauge, 25')

Frame

  • Foundation Underplate (16" by 16" by 0.25" A36 steel plate 33
  • Foundation Pillar (2” by 2” by 12”, A36 steel square bar, x4) 96
  • Foundation Overplate (12” by 12” by 0.25” A36 steel plate) 27
  • Base Angle (8”A/8”B by 12”L by 1”T A36 steel angle) 113
  • Main Arm (2” by 6” by 30” A36 steel bar) 160
  • Forearm Angle (8”A/8”B by 12”L by 0.5”T A36 steel angle)
  • Forearm Plate A (8” by 8” by 0.25T A36 steel plate, x2) 56
  • Forearm (4” by 4” by 18” by 0.25T A36 steel square tube) 38
  • Wrist Angle (10”A/10”B by 10”L by 0.5”T A36 steel angle)
  • End-effector Angle (8”A/8”B by 8”L by 0.5”T A36 steel angle)

Gear Reducer 1

  • Gearbox Input/Output Plate (6” x 8” x 0.25”, A36 steel plate, x2)
  • Gearbox Side A Plate (6” x 3” x 1” A36 steel plate, x2)
  • Gearbox Side B Plate (8” x 3” x 0.25” A36 steel plate, x2)
  • Gearbox Angle (1”A/1”B, 6”L, 0.25”T, A36 steel angle, x4)
  • Gearbox Output Shaft
  • Gearbox Input Spur Gear
  • Gearbox Output Spur Gear
  • Gearbox Output Hub
  • Gearbox Input Key
  • Gearbox Output Key

Gear Reducer 2

  • Gearbox Input/Output Plate (6” x 1” x 8”, A36 steel plate, x2)
  • Gearbox Side A Plate (x2)
  • Gearbox Side B Plate (x2)
  • Gearbox Output Shaft
  • Gearbox Input Spur Gear
  • Gearbox Output Spur Gear
  • Gearbox Output Hub
  • Gearbox Input Key
  • Gearbox Output Key

Gear Reducer 3

  • Gearbox Input/Output Plate (6” x 1” x 8”, A36 steel plate, x2)
  • Gearbox Side A Plate (x2)
  • Gearbox Side B Plate (x2)
  • Gearbox Output Shaft
  • Gearbox Input Spur Gear
  • Gearbox Output Spur Gear
  • Gearbox Output Hub
  • Gearbox Input Key
  • Gearbox Output Key

Gear Reducer 4

  • Gearbox Input/Output Plate (6” x 1” x 8”, A36 steel plate, x2)
  • Gearbox Side A Plate (x2)
  • Gearbox Side B Plate (x2)
  • Gearbox Output Shaft
  • Gearbox Input Spur Gear
  • Gearbox Output Spur Gear
  • Gearbox Output Hub
  • Gearbox Input Key
  • Gearbox Output Key

Gear Reducer 5

  • Gearbox Input/Output Plate (6” x 1” x 8”, A36 steel plate, x2)
  • Gearbox Side A Plate (x2)
  • Gearbox Side B Plate (x2)
  • Gearbox Output Shaft
  • Gearbox Input Spur Gear
  • Gearbox Output Spur Gear
  • Gearbox Output Hub
  • Gearbox Input Key
  • Gearbox Output Key

Gear Reducer 6

  • Gearbox Input/Output Plate (6” x 1” x 8”, A36 steel plate, x2)
  • Gearbox Side A Plate (x2)
  • Gearbox Side B Plate (x2)
  • Gearbox Output Shaft
  • Gearbox Input Spur Gear
  • Gearbox Output Spur Gear
  • Gearbox Output Hub
  • Gearbox Input Key
  • Gearbox Output Key

Stepper Motor Mounts

  • Stepper Motor (x6) 84
  • Stepper Angle (6”A/4”B, 4”L, 0.3125”T, x6) 44
  • Holding Plate (4” by 4” by 0.125” A36 steel plate, x12) 48
  • Shaft Bar (1” by 1” by 3” A36 steel bar, x6) 14
  • Setscrews ( )
  • Bolts ( )
  • Washers ( )
  • Nuts ( )

Shaft Encoders

  • Phototransistor Pair (x6) 30
  • Schmidt Trigger IC (x6) 6
  • Metal Disc (x6)
  • Bolts ( )

Welding

  • Welding Consumables
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