Industrial Robot/Bill of Materials

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Structure

• [number needed] Name (specifications) [link to suggested source + total cost]

Partial Prototyping Bill of Materials

Frame

• [1] Base Angle (8"A x 8"B x 27" Length x 0.5" Thickness, A36 steel angle) 93

Gearbox

• [2] Gearbox 1,2 Input Plate (13" by 7.5" by 0.5" A36 steel plate) 64

• [4] Gearbox 1,2 Side Plate (7.5" by 3" by 1" A36 steel plate) 47

• [2] Gearbox 1,2 Cover Plate (13" by 3" by 3/16" A36 steel plate) 26

• [4] Gearbox 1,2 Outer Race Plate (5" by 7" by 1" A36 plate) 64

• [2] Gearbox 1,2 Output Shaft (1.25" diameter, 5" length A36 steel round bar, keyhole 1/4 wide 1/8 deep, tapped 1/2 - 13 both ends) 9

• [4] Gearbox 1,2 Inner Race (4" diameter, 2" length steel round bar)

• [2] Gearbox 1,2 Output Hub (5" diameter, 3" length steel round bar)

• [2] Gearbox 1,2 Support Hub (3.25" diameter, 2.25" length steel round bar)

• [1] Loose Ball Bearing (1/2" diameter, chrome steel G25, x100) 12

• [12] Side plate bolts (1/2 – 13, 4")

• [12] Side plate nuts (1/2 – 13)

• [4] Cover plate bolts (1/2 - 13, 0.75")

• [4] O-ring Seal (Inner diameter 3", Outer diameter 3.5", Width 1/8")

• [4] Cover plate nuts (1/2 - 13)

• [4] Output shaft bolts (1/2 - 13, 1")

• [4] Lube bolts (#6, 1")

• [2] Input gear (20 degree pressure angle, 3" pitch diameter, 28 diametral pitch, 1.25" inner diameter)

• [2] Output gear (20 degree pressure angle, 6' pitch diameter, 28 diametral pitch, 1.25" inner diameter)

Hydraulics

• Powercube (compatible with below, parallel circuit)

• [2] Hydraulic motor (1,2) 500

• [8] Hydraulic motor mounting bolts (1,2)

• [2] Needle valve 60

• [2] Solenoid valve 100

• [2] Solenoid valve subplate 100

• [8] Solenoid valve subplate mounting bolts

• [4] SAE10M to 1/2NPTF Swivel 10

• [2] SAE4M to 1/4NPTF Swivel 4

• [8] SAE6M to 1/2NPTF Swivel 32

• [1] 1/4NPTM to 1/2NPTF Adapter 3

• [1] 1/4NPTF Tee 3

• [5] 1/2NPTF Tee 25

• [4] 1/2NPTM Nip 5

• [2] 1/4NPTM X 72" Hose 24

• [4] 1/2NPTM X 72" Hose 56

• [6] 1/2NPTM X 36" Hose 60

Electronics

• [1] Microcontroller 65

• [1] Solenoid Driver 13

• [2] Stepper Motor Driver 30

• [1] Power Supply (3 12VDC outputs, 2 5VDC outputs)

• [1] Wire (18 AWG, 12'+ length)

Encoder

• [2] Encoder (1250 counts per revolution, ball bearing) 160

• [2] Encoder connector (6') 32

• [4] Encoder mounting screws (#4)

• [2] Encoder Mount Support Angle (2"A/2"B, 5" Length, 1/8" Thickness, A36 Steel Angle) 10

• [2] Encoder Mount Main Angle (3"A/2"B, 2.5" Length, 3/16" Thickness, A36 Steel Angle) 8

• [2] Encoder Shaft Coupling (3" Diameter, 1.5" Length Steel Round Bar) 12

Stepper mount

• [2] Stepper motor 28

• [8] Stepper motor mounting screws (3mm metric)

• [2] Stepper mount angle (4”A/6”B, 4”L, 5/16”T, A36 steel angle)

• [4] Stepper mount plate (3" by 4" by 1/8" A36 steel plate)

• [2] Shaft coupling bar (1" by 1" by 6" A36 steel bar)

• [6] Stepper mount plate bolts (1/4 - 20, 5")

• [6] Stepper mount plate nuts (1/4 - 20)

• [2] Stepper motor coupling screw (1/4 - 20, 1" length)

• [2] Needle Valve coupling screw (1/4 - 20, 1" length)

Bill of Materials

Hydraulics

• Powercube (1500psi, 18GPM)

• Hydraulic Motor 1 300
• Hydraulic Motor 2 300
• Hydraulic Motor 3 160
• Hydraulic Motor 4 160
• Hydraulic Motor 5 160
• Hydraulic Motor 6 160

• Solenoid Valve (1-6, x6) 300
• Solenoid Valve Subplate (1-6, SAE6, x6) 288

• Needle Valve (1-6, 1/2NPTF, x6) 180

• Pressure Relief Valve 42

• Hose (1NPTM, 3', x3) 87

• Hose (1NPTM, 6', x1) 47

• Hose (1/2NPTM, 3', x18) 180

• Hose (1/2NPTM, 8', x6) 128

• Hose (1/2NPTM, 6', x6) 84

• Hose (1/2NPTM, 4', x4) 44

• Adaptor (1NPTM to 1/2NPTF, x6) [

• Adaptor (1/2NPTM to 1/2NPTM, x6) 12

• Adaptor (1/2NPTF to SAE6M, x28) 84

• Adaptor (1/2NPTF to SAE10M, x4) 12

• Adaptor (SAE4M to SAE6F, x4) [http://www.surpluscenter.com/item.asp?item=9-6410-4-6&catname=hydraulic 14

Electronics

• Microcontroller 65

• Solenoid Driver (x2) 26

• Stepper Motor Driver (x6) 90

• Power Supply (as necessary to connect to 6 step motor drivers, 2 solenoid drivers, and 6 encoders)

• Wire

Frame

• Foundation Underplate (24" by 24" by 0.5" A36 steel plate 90

• Foundation Pillar (2” by 2” by 12”, A36 steel square bar, x4) 62

• Foundation Overplate (16” by 16” by 0.5” A36 steel plate) 51

• Base Angle (8”A/8”B by 20”L by 1”T A36 steel angle) 154

• Main Arm (1” by 4” by 15” A36 steel bar) 23

• Forearm Angle (8”A/8”B by 20”L by 0.5”T A36 steel angle) 83

• Forearm Plate A (8” by 8” by 0.25T A36 steel plate, x1) 50

• Forearm Plate B (8” by 4” by 0.5” A36 steel plate, x1) 24

• Forearm (2” by 2” by 12” by 0.25T carbon steel square tube) 11

• Wrist Angle (8”A/8”B by 20”L by 0.5”T A36 steel angle) 83

Gear Reducer 1,2

• Gearbox 1,2 Input Plate (13" x 7", 0.5" A36 steel plate, x2)
• Gearbox 1,2 Side Plate (7" x 5" x 1" A36 steel plate, x4)
• Gearbox 1,2 Cover Plate (13" x 5" x 0.125" A36 steel plate, x2)
• Gearbox 1,2 Output Shaft (1.25"dia x 4" A36 steel round bar, x2)
• Gearbox 1,2 Input Spur Gear (3" pitch dia, 20deg pressure angle, 18dia pitch)
• Gearbox 1,2 Output Spur Gear (6" pitch dia, 20deg pressure angle, 18 dia pitch)
• Gearbox 1,2 Output Hub (
• Gearbox 1,2 Output Key (
• Gearbox 1,2 Outer Race Plate (
• Gearbox 1,2 Inner Race (
• Gearbox 1,2 O-ring Seal

Gear Reducer 3,4,5,6

• Gearbox 3,4,5,6 Input Plate (12" x 7.5" x 0.25" A36 steel plate, x4)
• Gearbox 3,4,5,6 Side Plate (7.5" x 5" x 1" A36 steel plate, x8)
• Gearbox 3,4,5,6 Cover Plate (12" x 5" x 0.125" A36 steel plate, x4)
• Gearbox 3,4,5,6 Output Shaft (1"dia x 4" A36 steel round bar, x4)
• Gearbox 3,4,5,6 Input Spur Gear (3" pitch dia, 20deg pressure angle, 18 diametral pitch)
• Gearbox 3,4,5,6 Output Spur Gear (6"pitch dia, 20deg pressure angle, 18 diametral pitch)
• Gearbox 3,4,5,6 Output Hub (
• Gearbox 3,4,5,6 Output Key (
• Gearbox 3,4,5,6 Outer Race Plate (
• Gearbox 3,4,5,6 Inner Race (
• Gearbox 3,4,5,6 O-ring Seal

Stepper Motor Mounts

• Stepper Motor (x6) 84

• Stepper Angle (4”A/4”B, 4”L, 0.25”T, A36 steel angle, x6) 24

• Holding Plate (3” by 3” by 0.25” A36 steel plate, x12) 29

• Shaft Bar (0.5” by 0.5” by 1” A36 steel bar, x6) 36

• Setscrews ( )
• Bolts ( )
• Washers ( )
• Nuts ( )

Welding

• Welding Consumables