Industrial Robot/Bill of Materials

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Open Section Bill of Materials

Structure

Foundation

• [1] Main Tube, Support Tube (4" x 4" x 3/16"T x 96" A36 square tube)

88

• [1] Raising Bar (2” by 2” by 48”, A36 steel square bar)

63

• [1] Base Plate, Forearm Perpendicular Plate, Forearm Parallel Plate (16” by 22” by 0.5” A36 steel plate)

63

• [1] Arm Bar (1” by 6” by 24” A36 steel bar)

49

• [1] Forearm Tube (2” by 2” by 12” by 0.25T carbon steel square tube)

11

Fasteners

[12] Bar Bolts (1/2 - 13, 4")

[4] Ground Bolts (1/2 - 13, 4")

[4] Plate Bolts (1/2 - 13, 6")

Gearboxes

• [1] G12 Angle, G34 Angle, G56 Angle (8”A/8”B by 78”L by 0.5”T A36 steel angle)

• [1] G12 Input Plate, G34 Input Plate, G56 Input Plate (78" by 7.5" by 0.5" A36 steel plate)

• [1] G12 Side Plate, G34 Side Plate, G56 Side Plate (90" by 3" by 1" A36 steel plate)

• [1] G12 Cover Plate, G34 Cover Plate, G56 Cover Plate (78" by 3" by 3/16" A36 steel plate)

• [1] G12 Outer Race Plates, G34 Outer Race Plates, G56 Outer Race Plates (5" by 84" by 1" A36 plate)

• [1] G12 Output Shafts, G34 Output Shafts, G56 Output Shafts (1.25" diameter, 30" length A36 steel round bar)

• [1] G12 Inner Race, G34 Inner Race, G56 Inner Race (51" by 4", 2" steel plate) 148

• [1] G12 Output Hub, G34 Output Hub, G56 Output Hub (30" by 5" by 3" steel plate)

• [1] Support Hub (20" by 3.25" by 2.25" steel plate)

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

• [2] G12 Input Gear, G34 Input Gear, G56 Input Gear (20 degree pressure angle, 3" pitch diameter, 28 diametral pitch, 1.25" bore, ) Move specs to manu instructions and put stock material here in BOM*

• [2] G12 Output Gear (20 degree pressure angle, 6' pitch diameter, 28 diametral pitch, 1.25" inner diameter)

Gearbox Minor Components

• [36] Side plate bolts (1/2 – 13, 5")

• [36] Side plate nuts (1/2 – 13)

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

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

• [12] Cover plate nuts (1/2 - 13)

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

• [12] Lube bolts (#6, 1")

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

Encoder

• [6] Encoder (2500 counts per revolution, ball bearing) 560

• [2] G12 Encoder connector (6') 17

• [2] G34 Encoder connector (8') 19

• [2] G56 Encoder connector (10') 21

• [24] Encoder mounting screws (#4)

• [1] Encoder Mount Support Angle (2"A/2"B, 30" Length, 1/8" Thickness, A36 Steel Angle)

• [1] Encoder Mount Main Angle (3"A/2"B, 15" Length, 3/16" Thickness, A36 Steel Angle)

• [1] Encoder Shaft Coupling (3" Diameter, 9" Length Steel Round Bar)

Hydraulics

Circuit

• Powercube (1500psi, 18GPM)

• [2] Motor 1,2
• [4] Motor 3,4,5,6

• [6] Solenoid Valve 300
• [1] Solenoid Valve Subplates (18" by 2.5" by 1" 6061-T6 aluminum plate) 51

• [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

• [6] Adaptor (1/2NPTM to 1/2NPTM, x6) 12
• [28] Adaptor (1/2NPTF to SAE6M, x28) 84
• [4] Adaptor (1/2NPTF to SAE10M, x4) 12
• [4] Adaptor (SAE4M to SAE6F, x4) [http://www.surpluscenter.com/item.asp?item=9-6410-4-6&catname=hydraulic 14

Stepper Mount

• [2] Stepper motor 28

• [8] Stepper motor mounting screws (3mm 0.5, 25mm length) 1

• [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") 5

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

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

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

Electronics

• [1] Microcontroller 50

• [2] Solenoid Driver 26

• [6] Stepper Motor Driver 90

• [1] Power Supply (12VDC for the two solenoid drivers)

• Wire (22 AWG, 12+')