Industrial Robot/Bill of Materials: Difference between revisions

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====Foundation====
====Foundation====


****[2] Main Tube (2" x 2" x 24" A36 square tube)
*[2] Main Tube (2" x 2" x 24" A36 square tube)


****[2] Support Tube (2" x 2" x 20" 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) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Square_Bar.cfm?item_id=180&size_no=11 62]
*[4] Bar (2” by 2” by 12”, A36 steel square bar) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Square_Bar.cfm?item_id=180&size_no=11 62]


****[1] Plate (16” by 16” by 0.5” A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=6 51]
*[1] Plate (16” by 16” by 0.5” A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=6 51]




====Main Arm====
====Main Arm====


***[1] Bar (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]
*[1] Bar (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)


****Forearm (2” by 2” by 12” by 0.25T carbon steel square tube)  [http://www.discountsteel.com/items/Structural_Mechanical_Steel_Square_Tube.cfm?item_id=206&size_no=46  11]
*Forearm (2” by 2” by 12” by 0.25T carbon steel square tube)  [http://www.discountsteel.com/items/Structural_Mechanical_Steel_Square_Tube.cfm?item_id=206&size_no=46  11]


****Parallel Plate (
*Parallel Plate (




====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]


****[2] Input Plate (13" by 7.5" by 0.5" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=6 64]
*[2] Input Plate (13" by 7.5" by 0.5" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=6 64]


****[4] Side Plate (7.5" by 3" by 1" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 47]
*[4] Side Plate (7.5" by 3" by 1" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 47]


****[2] Cover Plate (13" by 3" by 3/16" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=1&pieceLength=cut&wid_ft=1&wid_in=0&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=17|3&itemComments=&qty=1 26]
*[2] Cover Plate (13" by 3" by 3/16" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=1&pieceLength=cut&wid_ft=1&wid_in=0&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=17|3&itemComments=&qty=1 26]


****[4] Outer Race Plate (5" by 7" by 1" A36 plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=6&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 64]
*[4] Outer Race Plate (5" by 7" by 1" A36 plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=6&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 64]


****[2] Round Bar (1.25" diameter, 5" length A36 steel round bar) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Round_Bar.cfm?item_id=191&size_no=12 9]
*[2] Round Bar (1.25" diameter, 5" length A36 steel round bar) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Round_Bar.cfm?item_id=191&size_no=12 9]


****[4] Inner Race (4" diameter, 2" length steel round bar)
*[4] Inner Race (4" diameter, 2" length steel round bar)


****[2] Output Hub (5" diameter, 3" 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)
*[2] Support Hub (3.25" diameter, 2.25" length steel round bar)


****[1] Loose Ball Bearing (1/2" diameter, chrome steel G25, x100) [http://www.vxb.com/page/bearings/PROD/LooseSteelBalls/Kit8597 12]
*[1] Loose Ball Bearing (1/2" diameter, chrome steel G25, x100) [http://www.vxb.com/page/bearings/PROD/LooseSteelBalls/Kit8597 12]


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


****[12] Side plate nuts (1/2 – 13)
*[12] Side plate nuts (1/2 – 13)


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


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


****[4] Cover plate nuts (1/2 - 13)
*[4] Cover plate nuts (1/2 - 13)


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


****[4] Lube bolts (#6, 1")
*[4] Lube bolts (#6, 1")


****[2] Input gear (20 degree pressure angle, 3" pitch diameter, 28 diametral pitch, 1.25" inner diameter)
*[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)
*[2] Output gear (20 degree pressure angle, 6' pitch diameter, 28 diametral pitch, 1.25" inner diameter)




====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]


****[2] Input Plate (13" by 7.5" by 0.5" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=6 64]
*[2] Input Plate (13" by 7.5" by 0.5" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=6 64]


****[4] Side Plate (7.5" by 3" by 1" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 47]
*[4] Side Plate (7.5" by 3" by 1" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 47]


****[2] Cover Plate (13" by 3" by 3/16" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=1&pieceLength=cut&wid_ft=1&wid_in=0&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=17|3&itemComments=&qty=1 26]
*[2] Cover Plate (13" by 3" by 3/16" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=1&pieceLength=cut&wid_ft=1&wid_in=0&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=17|3&itemComments=&qty=1 26]


****[4] Outer Race Plate (5" by 7" by 1" A36 plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=6&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 64]
*[4] Outer Race Plate (5" by 7" by 1" A36 plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=6&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 64]


****[2] Round Bar (1.25" diameter, 5" length A36 steel round bar) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Round_Bar.cfm?item_id=191&size_no=12 9]
*[2] Round Bar (1.25" diameter, 5" length A36 steel round bar) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Round_Bar.cfm?item_id=191&size_no=12 9]


****[4] Inner Race (4" diameter, 2" length steel round bar)
*[4] Inner Race (4" diameter, 2" length steel round bar)


****[2] Output Hub (5" diameter, 3" 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)
*[2] Support Hub (3.25" diameter, 2.25" length steel round bar)


****[1] Loose Ball Bearing (1/2" diameter, chrome steel G25, x100) [http://www.vxb.com/page/bearings/PROD/LooseSteelBalls/Kit8597 12]
*[1] Loose Ball Bearing (1/2" diameter, chrome steel G25, x100) [http://www.vxb.com/page/bearings/PROD/LooseSteelBalls/Kit8597 12]


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


****[12] Side plate nuts (1/2 – 13)
*[12] Side plate nuts (1/2 – 13)


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


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


****[4] Cover plate nuts (1/2 - 13)
*[4] Cover plate nuts (1/2 - 13)


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


****[4] Lube bolts (#6, 1")
*[4] Lube bolts (#6, 1")


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


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


====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]
 
****[2] Input Plate (13" by 7.5" by 0.5" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=6 64]


****[4] Side Plate (7.5" by 3" by 1" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 47]
*[2] Input Plate (13" by 7.5" by 0.5" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=6 64]


****[2] Cover Plate (13" by 3" by 3/16" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=1&pieceLength=cut&wid_ft=1&wid_in=0&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=17|3&itemComments=&qty=1 26]
*[4] Side Plate (7.5" by 3" by 1" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 47]


****[4] Outer Race Plate (5" by 7" by 1" A36 plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=6&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 64]
*[2] Cover Plate (13" by 3" by 3/16" A36 steel plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=1&pieceLength=cut&wid_ft=1&wid_in=0&wid_fraction=0&len_ft=0&len_in=7&len_fraction=.5&pieceCutType=17|3&itemComments=&qty=1 26]


****[2] Round Bar (1.25" diameter, 5" length A36 steel round bar) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Round_Bar.cfm?item_id=191&size_no=12 9]
*[4] Outer Race Plate (5" by 7" by 1" A36 plate) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Plate.cfm?item_id=189&size_no=10&pieceLength=cut&wid_ft=1&wid_in=1&wid_fraction=0&len_ft=0&len_in=6&len_fraction=.5&pieceCutType=30|1&itemComments=&qty=1 64]


****[4] Inner Race (4" diameter, 2" length steel round bar)
*[2] Round Bar (1.25" diameter, 5" length A36 steel round bar) [http://www.discountsteel.com/items/A36_Hot_Rolled_Steel_Round_Bar.cfm?item_id=191&size_no=12 9]


****[2] Output Hub (5" diameter, 3" length steel round bar)
*[4] Inner Race (4" diameter, 2" length steel round bar)


****[2] Support Hub (3.25" diameter, 2.25" length steel round bar)
*[2] Output Hub (5" diameter, 3" length steel round bar)


****[1] Loose Ball Bearing (1/2" diameter, chrome steel G25, x100) [http://www.vxb.com/page/bearings/PROD/LooseSteelBalls/Kit8597 12]
*[2] Support Hub (3.25" diameter, 2.25" length steel round bar)


****[12] Side plate bolts (1/2 – 13, 4")
*[1] Loose Ball Bearing (1/2" diameter, chrome steel G25, x100) [http://www.vxb.com/page/bearings/PROD/LooseSteelBalls/Kit8597 12]


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


****[4] Cover plate bolts (1/2 - 13, 0.75")
*[12] Side plate nuts (1/2 – 13)


****[4] O-ring Seal (Inner diameter 3", Outer diameter 3.5", Width 1/8")
*[4] Cover plate bolts (1/2 - 13, 0.75")


****[4] Cover plate nuts (1/2 - 13)
*[4] O-ring Seal (Inner diameter 3", Outer diameter 3.5", Width 1/8")


****[4] Output shaft bolts (1/2 - 13, 1")
*[4] Cover plate nuts (1/2 - 13)


****[4] Lube bolts (#6, 1")
*[4] Output shaft bolts (1/2 - 13, 1")


****[2] Input gear (20 degree pressure angle, 3" pitch diameter, 28 diametral pitch, 1.25" inner diameter)
*[4] Lube bolts (#6, 1")


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


**[2] Encoder (1250 counts per revolution, ball bearing) [http://usdigital.com/products/encoders/incremental/rotary/shaft/h5 160]
*[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]
*[2] Encoder connector (6') [http://usdigital.com/products/cables-connectors/cables/5-pin/ca-c5-w5-nc 32]


**[4] Encoder mounting screws (#4)
*[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 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 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]
*[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==
==Hydraulics==
Line 315: Line 313:
===Circuit===
===Circuit===


**Powercube (1500psi, 18GPM)
*Powercube (1500psi, 18GPM)


**[2] Motor 1,2 [http://www.surpluscenter.com/item.asp?item=9-9338&catname=hydraulic 300]
*[2] Motor 1,2 [http://www.surpluscenter.com/item.asp?item=9-9338&catname=hydraulic 300]
**[4] Motor 3,4,5,6 [http://www.surpluscenter.com/item.asp?item=9-7076-400&catname=hydraulic 160]
*[4] Motor 3,4,5,6 [http://www.surpluscenter.com/item.asp?item=9-7076-400&catname=hydraulic 160]


**[6] Solenoid Valve [http://www.surpluscenter.com/item.asp?item=9-7748&catname=hydraulic 300]
*[6] Solenoid Valve [http://www.surpluscenter.com/item.asp?item=9-7748&catname=hydraulic 300]
**[6] Solenoid Valve Subplate (1-6, SAE6, x6) [http://www.surpluscenter.com/item.asp?catname=hydraulic&qty=1&item=9-4070-1 288]
*[6] Solenoid Valve Subplate (1-6, SAE6, x6) [http://www.surpluscenter.com/item.asp?catname=hydraulic&qty=1&item=9-4070-1 288]


**[6] Needle Valve [http://www.surpluscenter.com/item.asp?item=9-7961-8&catname=hydraulic 180]
*[6] Needle Valve [http://www.surpluscenter.com/item.asp?item=9-7961-8&catname=hydraulic 180]


**[1] Pressure Relief Valve [https://www.surpluscenter.com/item.asp?item=9-4127&catname=hydraulic 42]
*[1] Pressure Relief Valve [https://www.surpluscenter.com/item.asp?item=9-4127&catname=hydraulic 42]


**[3] Hose (1NPTM, 3') [http://www.surpluscenter.com/item.asp?item=919-2236&catname=hydraulic 87]
*[3] Hose (1NPTM, 3') [http://www.surpluscenter.com/item.asp?item=919-2236&catname=hydraulic 87]
**[1] Hose (1NPTM, 6') [http://www.surpluscenter.com/item.asp?item=919-2272&catname=hydraulic 47]
*[1] Hose (1NPTM, 6') [http://www.surpluscenter.com/item.asp?item=919-2272&catname=hydraulic 47]
**[18] Hose (1/2NPTM, 3') [http://www.surpluscenter.com/item.asp?item=905-1236&catname=hydraulic 180]
*[18] Hose (1/2NPTM, 3') [http://www.surpluscenter.com/item.asp?item=905-1236&catname=hydraulic 180]
**[6] Hose (1/2NPTM, 8') [http://www.surpluscenter.com/item.asp?item=905-1296&catname=hydraulic 128]
*[6] Hose (1/2NPTM, 8') [http://www.surpluscenter.com/item.asp?item=905-1296&catname=hydraulic 128]
**[6] Hose (1/2NPTM, 6') [http://www.surpluscenter.com/item.asp?item=905-1272&catname=hydraulic 84]
*[6] Hose (1/2NPTM, 6') [http://www.surpluscenter.com/item.asp?item=905-1272&catname=hydraulic 84]
**[4] Hose (1/2NPTM, 4') [http://www.surpluscenter.com/item.asp?item=905-1248&catname=hydraulic 44]
*[4] Hose (1/2NPTM, 4') [http://www.surpluscenter.com/item.asp?item=905-1248&catname=hydraulic 44]


**[6] Adaptor (1/2NPTM to 1/2NPTM, x6) [http://www.surpluscenter.com/item.asp?item=9-5404-8-8&catname=hydraulic 12]
*[6] Adaptor (1/2NPTM to 1/2NPTM, x6) [http://www.surpluscenter.com/item.asp?item=9-5404-8-8&catname=hydraulic 12]
**[28] Adaptor (1/2NPTF to SAE6M, x28) [http://www.surpluscenter.com/item.asp?item=9-6405-6-8&catname=hydraulic 84]
*[28] Adaptor (1/2NPTF to SAE6M, x28) [http://www.surpluscenter.com/item.asp?item=9-6405-6-8&catname=hydraulic 84]
**[4] Adaptor (1/2NPTF to SAE10M, x4) [http://www.surpluscenter.com/item.asp?item=9-6405-10-8&catname=hydraulic 12]
*[4] Adaptor (1/2NPTF to SAE10M, x4) [http://www.surpluscenter.com/item.asp?item=9-6405-10-8&catname=hydraulic 12]
**[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===
===Stepper Mount===


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


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


**[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]
*[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]


**[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]
*[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]


**[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]
*[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]


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


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


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


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




==Electronics==
==Electronics==


**[1] Microcontroller [http://www.sparkfun.com/products/9949 65]
*[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]
*[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]
*[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)
*[1] Power Supply (as necessary to connect to 6 step motor drivers, 2 solenoid drivers, and 6 encoders)


**Wire (18 AWG, 12+')
*Wire (18 AWG, 12+')


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

Revision as of 12:29, 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

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


Main Arm

  • [1] Bar (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" 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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