Industrial Robot/Bill of Materials: Difference between revisions

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*Structure
==Structure==


**Frame
===Frame===


***[1] Main Arm (1” by 4” by 15” A36 steel bar) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Flat_Bar.cfm?item_id=184&size_no=194 23]


***Foundation
 
====Foundation====


****[2] Main Tube (2" x 2" x 24" A36 square tube)
****[2] Main Tube (2" x 2" x 24" A36 square tube)
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***[1] Main Arm (1” by 4” by 15” A36 steel bar) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Flat_Bar.cfm?item_id=184&size_no=194 23]
====Forearm====
 
 
***Forearm


****Perpendicular Plate (6” by 6” by 0.25" A36 steel plate, x1)
****Perpendicular Plate (6” by 6” by 0.25" A36 steel plate, x1)
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***Gearbox 1,2
====Gearbox 1,2====


****[1] Angle (8”A/8”B by 20”L by 1”T A36 steel angle) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Equal_Leg_Angle.cfm?item_id=183&size_no=50  154]
****[1] Angle (8”A/8”B by 20”L by 1”T A36 steel angle) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Equal_Leg_Angle.cfm?item_id=183&size_no=50  154]
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***Gearbox 3,4
====Gearbox 3,4====


****Forearm 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]
****Forearm 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]
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***Gearbox 5,6
====Gearbox 5,6====


****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]
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*Hydraulics
====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]
 
 
 
==Hydraulics==
 
===Circuit===


**Powercube (1500psi, 18GPM)
**Powercube (1500psi, 18GPM)
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**[4] Adaptor (SAE4M to SAE6F, x4) [http://www.surpluscenter.com/item.asp?item=9-6410-4-6&catname=hydraulic 14
**[4] Adaptor (SAE4M to SAE6F, x4) [http://www.surpluscenter.com/item.asp?item=9-6410-4-6&catname=hydraulic 14


 
===Stepper Mount===
 
*Electronics
 
**[1] Microcontroller [http://www.sparkfun.com/products/9949 65]
 
**[2] Solenoid Driver [http://store.makerbot.com/electronics/electronics-kits/pwm-driver-v1-1-kit.html 26]
 
**[6] Stepper Motor Driver [http://www.sparkfun.com/products/10267 90]
 
**[1] Power Supply (as necessary to connect to 6 step motor drivers, 2 solenoid drivers, and 6 encoders)
 
**Wire (18 AWG, 12+')
 
 
*Stepper Mount


**[2] Stepper motor [http://www.adafruit.com/products/324 28]
**[2] Stepper motor [http://www.adafruit.com/products/324 28]
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**[2] Needle Valve 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]
==Electronics==


**[4] Encoder mounting screws (#4)
**[1] Microcontroller [http://www.sparkfun.com/products/9949 65]


**[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] Solenoid Driver [http://store.makerbot.com/electronics/electronics-kits/pwm-driver-v1-1-kit.html 26]


**[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]
**[6] Stepper Motor Driver [http://www.sparkfun.com/products/10267 90]
 
**[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]


**[1] Power Supply (as necessary to connect to 6 step motor drivers, 2 solenoid drivers, and 6 encoders)


**Wire (18 AWG, 12+')


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

Revision as of 12:24, 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

Structure

Frame

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


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


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" 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)


Gearbox 3,4

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


Gearbox 5,6

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


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


Hydraulics

Circuit

    • Powercube (1500psi, 18GPM)
    • [2] Motor 1,2 300
    • [4] Motor 3,4,5,6 160
    • [6] Solenoid Valve 300
    • [6] Solenoid Valve Subplate (1-6, SAE6, x6) 288
    • [6] Needle Valve 180
    • [1] Pressure Relief Valve 42
    • [3] Hose (1NPTM, 3') 87
    • [1] Hose (1NPTM, 6') 47
    • [18] Hose (1/2NPTM, 3') 180
    • [6] Hose (1/2NPTM, 8') 128
    • [6] Hose (1/2NPTM, 6') 84
    • [4] Hose (1/2NPTM, 4') 44

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)


Electronics

    • [1] Microcontroller 65
    • [2] Solenoid Driver 26
    • [6] Stepper Motor Driver 90
    • [1] Power Supply (as necessary to connect to 6 step motor drivers, 2 solenoid drivers, and 6 encoders)
    • Wire (18 AWG, 12+')
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