Industrial Robot/Bill of Materials: Difference between revisions

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***Wrist Angle (8”A/8”B by 20”L by 0.5”T A36 steel angle) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Equal_Leg_Angle.cfm?item_id=183&size_no=48&pieceLength=cut&len_ft=2&len_in=0&len_fraction=0&pieceCutType=26|1&itemComments=&qty=1  83]
***Wrist Angle (8”A/8”B by 20”L by 0.5”T A36 steel angle) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Equal_Leg_Angle.cfm?item_id=183&size_no=48&pieceLength=cut&len_ft=2&len_in=0&len_fraction=0&pieceCutType=26|1&itemComments=&qty=1  83]


==Stepper Motor Mounts==


*Stepper Motor (x6) [http://www.adafruit.com/products/324 84]


*Stepper Angle (4”A/4”B, 4”L, 0.25”T, A36 steel angle, x6) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Equal_Leg_Angle.cfm?item_id=183&size_no=33 24]
*Stepper Mount


*Holding Plate (3” by 3” by 0.25” A36 steel plate, x12) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=2  29]
**[2] Stepper motor [http://www.adafruit.com/products/324 28]


*Shaft Bar (0.5” by 0.5” by 1” A36 steel bar, x6) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Square_Bar.cfm?item_id=180&size_no=4 36]
**[8] Stepper motor mounting screws (3mm metric)


*Setscrews ( )
**[2] Stepper mount angle (4”A/6”B, 4”L, 5/16”T, A36 steel angle) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Unequal_Leg_Angle.cfm?item_id=193&size_no=30 20]
*Bolts ( )
*Washers ( )
*Nuts ( )


==Shaft Encoders==
**[4] Stepper mount plate (3" by 4" by 3/16" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=1 23]


==Welding==
**[2] Shaft coupling bar (1" by 1" by 6" A36 round steel bar) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Square_Bar.cfm?item_id=180&size_no=8 9]


*Welding Consumables
**[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)
 
*Encoder
 
**[2] Encoder (1250 counts per revolution, ball bearing) [http://usdigital.com/products/encoders/incremental/rotary/shaft/h5 160]
 
**[2] Encoder connector (6') [http://usdigital.com/products/cables-connectors/cables/5-pin/ca-c5-w5-nc 32]
 
**[4] Encoder mounting screws (#4)
 
**[2] Encoder Mount Support Angle (2"A/2"B, 5" Length, 1/8" Thickness, A36 Steel Angle) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Equal_Leg_Angle.cfm?item_id=183&size_no=17 10]
 
**[2] Encoder Mount Main Angle (3"A/2"B, 2.5" Length, 3/16" Thickness, A36 Steel Angle) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Unequal_Leg_Angle.cfm?item_id=193&size_no=7 8]
 
**[2] Encoder Shaft Coupling (3" Diameter, 1.5" Length Steel Round Bar) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Round_Bar.cfm?item_id=191&size_no=17 12]






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

Revision as of 11:55, 9 August 2011


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


Structure

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

Partial Prototyping Bill of Materials

  • Structure
    • Gearbox
      • [1] Angle (8"A x 8"B x 27" Length x 0.5" Thickness, A36 steel angle) 93
      • [2] Input Plate (13" by 7.5" by 0.5" A36 steel plate) 64
      • [4] Side Plate (7.5" by 3" by 1" A36 steel plate) 47
      • [2] Cover Plate (13" by 3" by 3/16" A36 steel plate) 26
      • [4] Outer Race Plate (5" by 7" by 1" A36 plate) 64
      • [2] Round Bar (1.25" diameter, 5" length A36 steel round bar) 9
      • [4] Inner Race (4" diameter, 2" length steel round bar)
      • [2] Output Hub (5" diameter, 3" length steel round bar)
      • [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) 20
    • [4] Stepper mount plate (3" by 4" by 3/16" A36 steel plate) 23
    • [2] Shaft coupling bar (1" by 1" by 6" A36 round steel bar) 9
    • [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


  • 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


  • Structure
    • Frame
      • Foundation
        • [2] Main Tube (2" x 2" x 24" A36 square tube)
        • [2] Support Tube (2" x 2" x 20" A36 square tube)
        • [4] Bar (2” by 2” by 12”, A36 steel square bar)62
        • [1] Plate (16” by 16” by 0.5” A36 steel plate) 51
      • [1] Main Arm (1” by 4” by 15” A36 steel bar) 23
      • Forearm
        • Perpendicular Plate (6” by 6” by 0.25" A36 steel plate, x1)
        • Forearm (2” by 2” by 12” by 0.25T carbon steel square tube) 11
        • Parallel Plate (
      • Gearbox 1,2
        • [1] Angle (8”A/8”B by 20”L by 1”T A36 steel angle) 154
      • [2] Input Plate (13" x 7", 0.5" A36 steel plate)
      • [2] Cover Plate (13" x 5" x 0.125" A36 steel plate)
      • [2] Side Plate (7" x 3" x 1" A36 steel plate)
      • Output Shaft (1.25"dia x 4" A36 steel round bar, x2)
  • Input Spur Gear (3" pitch dia, 20deg pressure angle, 18dia pitch)
  • Output Spur Gear (6" pitch dia, 20deg pressure angle, 18 dia pitch)
  • Output Hub (
  • Output Key (
  • Outer Race Plate (
  • Inner Race (
  • O-ring Seal

Gear Reducer 3,4,5,6

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


  • 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) 20
    • [4] Stepper mount plate (3" by 4" by 3/16" A36 steel plate) 23
    • [2] Shaft coupling bar (1" by 1" by 6" A36 round steel bar) 9
    • [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)
  • 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
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