Industrial Robot Bill of Materials: Difference between revisions

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{{ToolTemplate|ToolName=Industrial Robot}}
#REDIRECT [[Industrial Robot/Bill of Materials]]
 
----
 
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"
! PART NAME
! NUMBER NEEDED
! PURPOSE
! COST
! SUGGESTED SOURCE
 
|-align="left"
! Foundation Underplate
! 1
! Ground contact mount for industrial robot (15" by 15" by 0.25" A36 steel plate)
! est. under 130
!
 
|-align="left"
! 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"
! 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"
! 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"
! 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"
! Foundation Pillar
! 4
! Supporting frame between foundation plates(2” by 2” by 10”, A36 steel square bar)
! est under 100
!
 
|-align="left"
! 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"
! 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"
! 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"
! 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"
! Foundation Overplate
! 1
! Mid-air mount for industrial robot (11” by 11” by 0.25” A36 steel plate)
! est under 90
!
 
|-align="left"
! 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"
! 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"
! Joint 1 Gearbox Washer
! 10?
! Fastener piece (stainless steel 18-8, x inner diameter washer)
! guess under 2
!
 
|-align="left"
! 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"
! Joint 1 Hydraulic Motor
! 1
! Rotates base of industrial robot
!est under 150
! surpluscenter
 
|-align="left"
! 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"
! Joint 1 Motor Washer
! 4?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)
! guess under 1
!
 
|-align="left"
! 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"
! 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"
! Joint 2 Hydraulic Motor
! 1
! Tilts main arm of industrial robot from base
! es under 150
! surpluscenter
 
|-align="left"
! 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"
! Joint 2 Hydraulic Motor Washer
! 4?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)
! guess under 1
!
 
|-align="left"
! 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"
! Joint 2 Gearbox
! 1
! Enables tilting of main arm relative to baseplate and control through shaft
! guess under 100
!
 
|-align="left"
! 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"
! Joint 2 Gearbox Washer
! 10?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)
! guess under 2
!
 
|-align="left"
! 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"
! Main Arm
! 1
! Frame piece from baseplate to elbow (24“ by 6” by 2” A36 steel bar)
! est under 150
!
 
|-align="left"
! Joint 3 Gearbox
! 1
! Enables tilting of forearm relative to main arm, and control through shaft
! guess under 100
!
 
|-align="left"
! 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"
! Joint 3 Gearbox Washer
! 10?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)
! guess under 2
!
 
|-align="left"
! 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"
! Joint 3 Hydraulic Motor
! 1
! Tilts forearm of industrial robot from main arm
! est under 150
! surpluscenter
 
|-align="left"
! Joint 3 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 3 Hydraulic Motor Washer
! 4?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)
! guess under 1
!
 
|-align="left"
! Joint 3 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 4 Hydraulic Motor
! 1
! Rotates wrist of industrial robot from forearm
! est under 150
! surpluscenter
 
|-align="left"
! Joint 4 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 4 Hydraulic Motor Washer
! 4?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)
! guess under 1
!
 
|-align="left"
! Joint 4 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 4 Gearbox
! 1
! Enables rotation of wrist relative to forearm and control through shaft
! guess under 100
!
 
|-align="left"
! Joint 4 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 4 Gearbox Washer
! 10?
! Fastener Piece (stainless steel 18-8, x inner diameter washer)
! guess under 1
!
 
|-align="left"
! Joint 4 Gearbox Nut
! 10?
! Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut)
! guess under 2
!
 
|-align="left"
! 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"
! 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"
! Forearm Angle Washer
! 4
! Fastener Piece (stainless steel 18-8, 1/2” inner diameter washer)
! est under 1
!
 
|-align="left"
! 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"
! 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"
! Forearm
! 1
! Tube connecting elbow to wrist (18” length by 6” diameter by 0.5” thickness A36 steel tube)
! guess under 150
!
 
|-align="left"
! 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"
! 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"
! Wrist Angle Bolt
! 4
! Fastener Piece (1/2”-13, 3”, 18-8 Stainless Steel hex bolt)
! est under 5
!
 
|-align="left"
! Wrist Angle Nut
! 4
! Fastener Piece (1/2”-13, 18-8 Stainless Steel hex nut)
! est under 1
!
 
|-align="left"
! Wrist Angle Washer
! 4
! Fastener Piece (1/2”, 18-8 Stainless Steel washer)
! est under 1
!
 
|-align="left"
! Joint 5 Hydraulic Motor
! 1
! Tilts wrist of industrial robot
! est under 150
! surpluscenter
 
|-align="left"
! 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]]

Latest revision as of 07:22, 24 July 2011

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